Learning Capture Points for humanoid push recovery

@article{Rebula2007LearningCP,
  title={Learning Capture Points for humanoid push recovery},
  author={John R. Rebula and Fabian Canas and Jerry E. Pratt and Ambarish Goswami},
  journal={2007 7th IEEE-RAS International Conference on Humanoid Robots},
  year={2007},
  pages={65-72}
}
We present a method for learning capture points for humanoid push recovery. A capture point is a point on the ground to which the biped can step and stop without requiring another step. Being able to predict the location of such points is very useful for recovery from significant disturbances, such as after being pushed. While dynamic models can be used to compute capture points, model assumptions and modeling errors can lead to stepping in the wrong place, which can result in large velocity… CONTINUE READING
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