Push recovery by stepping with step timing adjustment

摘要

Push Recovery has become an important subject in the research of humanoid robots. Generally, we use the `capture point' to solve the problem. In this case, people usually choose a constant time cycle pattern, which has a relatively limited solution. Although the following N-steps pattern was introduced, several problems still exist due to the fixed step timing. In this work, we proposed a new step strategy with step timing adjustment. A new standard is introduced indicating when the previous fixed step timing fails to solve the Push Recovery problem. The concrete plan for step timing adjustment is presented. Several simulation results such as the MATLAB Simulink and Gazebo are presented as well.