A new optimization based approach for push recovery in case of multiple noncoplanar contacts

@article{Mansour2011ANO,
  title={A new optimization based approach for push recovery in case of multiple noncoplanar contacts},
  author={Darine Mansour and Alain Micaelli and Adrien Escande and Pierre Lemerle},
  journal={2011 11th IEEE-RAS International Conference on Humanoid Robots},
  year={2011},
  pages={331-338}
}
This paper presents a new approach for humanoid push recovery in a generalized noncoplanar multicontact context. Our approach is based on a simplified model and consists in stabilizing the perturbed system while maintaining fixed contacts with the environment or by changing a contact configuration when needed to achieve stabilization. A first step of our strategy chooses the optimal contact to change when needed. A second step stabilizes the system while maintaining fixed contacts, when… CONTINUE READING

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