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For stable motions of position controlled humanoid robots, ZMP (Zero Moment Point) control is widely adopted, but needs to be integrated with other controllers due to its relatively slow response and the execution error of robots. While CoM (Center of Mass) control is much more directly than ZMP feedback control in the view of rejecting unknown external(More)
This paper presents a control algorithm for push recovery, which particularly focuses on the hip strategy when an external disturbance is applied on the body of a standing under-actuated biped. By analyzing a simplified dynamic model of a bipedal robot in the stance phase, it is found that horizontal stability can be maintained with a suitably controlled(More)
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