Jo, Joon-Hee Park, Gyunghoon Oh, Yonghwan 2024-01-12T04:07:32Z 2024-01-12T04:07:32Z 2021-12-14 2021-05 1050-4729 https://pubs.kist.re.kr/handle/201004/77726 This paper addresses robust landing stabilization in humanoid locomotion on uneven terrain. The core idea is to find a configuration of the robot that results in small impulsive force when an unexpected obstacle is encountered, and to adjust post-contact reference for swing foot with which the pose of the foot is stabilized on the obstacle. This can be achieved by walking with heel strike motion (validated by the impact map analysis) and by employing hybrid admittance control combining the admittance control with reset of postcontact reference, embedded into the momentum-based wholebody control framework. The validity of the proposed algorithm is verified by simulation with a physics engine. English IEEE Humanoid robot landing stabilization heel strike hybrid admittance control Robust Landing Stabilization of Humanoid Robot on Uneven Terrain via Admittance Control and Heel Strike Motion Conference 10.1109/ICRA48506.2021.9561534 1 Proceedings of IEEE International Conference on Robotics and Automation (ICRA), pp.2994 - 3000 Proceedings of IEEE International Conference on Robotics and Automation (ICRA) 2994 3000 CC Xi'an, China 2021-05-31 2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) 000765738802066 2-s2.0-85125451430