...Alinjar Dan; S. K. Saha; K. Rama Krishna; Amit Sawant; Gurman Singh Bhullar; Tarannum Perween Push recovery of a biped robot is challenging because of the complexity of biped locomotion contributed by its constraints. The present work proposes a novel optimized control methodology for push recovery...

...Hyunjong Song; William Z. Peng; Joo H. Kim For successful push recovery in response to perturbations, a humanoid robot must select an appropriate stabilizing action. Existing approaches are limited because they are often derived from reduced-order models that ignore system-specific aspects...

...William Z. Peng; Hyunjong Song; Joo H. Kim To achieve walking and push recovery successfully, a biped robot must be able to determine if it can maintain its current contact configuration or transition into another one without falling. In this study, the ability of a humanoid robot to maintain...