Park, G. Kim, J.H. Jo, J. Oh, Y. 2024-01-19T09:09:20Z 2024-01-19T09:09:20Z 2022-03-07 2020-10 2153-0858 https://pubs.kist.re.kr/handle/201004/113585 This paper addresses reactive generation of step time and location of biped robots for balance recovery against a severe push. Key idea is to reformulate the balance recovery problem into a tracking problem for hybridinverted pendulum model of the biped, where taking a new step implicitly yields a discrete jump of the tracking error. This interpretation offers a Lyapunov-based approach to reactive step generation, which is possibly more intuitive and easier to analyze than large-scaled or nonlinear optimization-based approaches. With the continuous error dynamics for the divergent component of motion (DCM), our strategy for step generation is to decrease the post-stepLyapunov level for DCM error at each walking cycle, until it eventually becomes smaller than a threshold so that no more footstep needs to be adjusted. We show that implementation of this idea while obeying physical constraints can be done by employing a hybrid tracking controller (together with a reference model) as our reactive step generator, consisting of a simple DCM-based continuous controller and a small-sized quadratic programming-based discrete controller. The validity of the proposed scheme is verified by simulation results. ？ 2020 IEEE. English Institute of Electrical and Electronics Engineers Inc. Lyapunov-based approach to reactive step generation for push recovery of biped robots via hybrid tracking control of DCM Conference 10.1109/IROS45743.2020.9341319 1 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, pp.3504 - 3509 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 3504 3509 US 2020-10-24 IEEE International Conference on Intelligent Robots and Systems 000714033801108 2-s2.0-85102403816