Compliant attitude control and stepping strategy for balance recovery with the humanoid COMAN

In this paper we describe an approach for hu-manoid robot balance recovery that combines a novel attitude control algorithm adding compliance to the robot´s behavior and increasing the smoothness of its motion, and an omnidirectional stepping strategy that can trigger one or two steps based on a measured disturbance vector. The proposed method is validated through experiments with the inherently compliant humanoid COMAN.