Walking controllers under perturbations

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.