Design and Simulation of a Push Recovery Strategy for Biped Robot

摘要

Maintaining balance and recovering from unexpected thrust is an important performance for bipedal robots. In this paper, we use the simplified biped robot model to solve the ZMP point, the variable height inverted pendulum model and sliding mode controller to solve the CoM point. Then, a nonlinear element is designed to describe the stability criterion of robot attitude. Finally, the whole process of push recovery is simulated by computer and the results verify the effectiveness and rapidity of the proposed method.