Walking controllers under perturbations

Dengpeng Xing, Jianbo Su

Abstract: This paper develops full state feedback parametric controllers for perturbed walking of humanoid robot in response to external perturbations. We simulate models in the sagittal and lateral plane and in 3-dimensions, use a horizontal push of a given size, direction, location, and time as a perturbation, and optimize parametric controllers for different push sizes, directions, locations, and times. During a simulated perturbation experiment, the appropriate controller is selected based on the detected push information. The performance of optimized controllers are shown in handling different instantaneous pushes.