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Push Recovery by stepping for humanoid robots with force controlled joints
Abstract
In order to interact with human environments, humanoid robots require safe and compliant control which can be achieved through force-controlled joints. In this paper, full body step recovery control for robots with force-controlled joints is achieved by adding model-based feed-forward controls. Push Recovery Model Predictive Control (PR-MPC) is presented as a method for generating full-body step recovery motions after a large disturbance. Results are presented from experiments on the Sarcos Primus humanoid robot that uses hydraulic actuators instrumented with force feedback control.
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Cited by
Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control
Di Carlo, J., Wensing, P. M., Katz, B., Bledt, G., & Kim, S. (2018) · 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8594448 · Cited by 758
Models, feedback control, and open problems of 3D bipedal robotic walking
Grizzle, J. W., Chevallereau, C., Sinnet, R. W., & Ames, A. D. (2014) · Automatica · doi:10.1016/j.automatica.2014.04.021 · Cited by 321
Ensemble-CIO: Full-body dynamic motion planning that transfers to physical humanoids
Mordatch, I., Lowrey, K., & Todorov, E. (2015) · 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7354126 · Cited by 135
Metadata
- Authors
- Stephens, B. J., & Atkeson, C. G.
- Venue
- 2010 10th IEEE-RAS International Conference on Humanoid Robots
- Publisher
- IEEE
- Published
- 2010-12
- Pages
- 52-59
- OpenAlex
- W2153190828
- Cited by
- 206
- References
- 0
- FWCI
- 22.13
- Type
- conference paper
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Push Recovery by stepping for humanoid robots with force controlled joints. https://app.cochat.ai/papers/10.1109/ichr.2010.5686288
- The paper
- Stephens, B. J., & Atkeson, C. G. (2010). Push Recovery by stepping for humanoid robots with force controlled joints. 2010 10th IEEE-RAS International Conference on Humanoid Robots. https://doi.org/10.1109/ichr.2010.5686288
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
