Biped robot push and recovery using flywheel model based walking perturbation counteraction

This paper proposes an approach to achieve perturbation counteraction and recovery during walking process for biped robots. The priority under external pushing force is to maintain walking stability and avoid falling down. The strategy we adopt here is to employ rotary momentum generated by reaction mass to achieve ZMP manipulation. The torque distribution among the reaction mass is determined in biomimetic way to deal with perturbation from the front and back. After removing external perturbation, the automatic recovery stage begins with the recovery of the reaction mass and walking pattern on-line modification which takes rotary momentum into consideration for adaptive trajectory generation. We have demonstrated this proof-of-concept experimentally using biped robot developed in our lab.