Push recovery controller for bipedal robot walking

The capability to recover from a push and maintain balance is necessary for a humanoid robot to operate in the real environment. This paper analyzes different types of pushes, and proposes a controller for handling a hard instantaneous push that occurs during humanoid robot walking. The proposed controller detects the push, calculates the steps a robot requires to recover from the push, and generates the joint motion for actively stabilizing the robot. Simulation results show that a 3D human sized humanoid robot can successfully recover from a hard instantaneous push during walking by using this controller.