Reachability-based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum
Shunpeng Yang Hua Chen Luyao Zhang Zhefeng Cao Patrick M. Wensing Yizhang Liu Jianxin Pang Wei Zhang Shunpeng Yang Hua Chen Luyao Zhang Zhefeng Cao Patrick M. Wensing Yizhang Liu Jianxin Pang Wei Zhang
This paper studies push recovery for humanoid robots based on a variable-height inverted pendulum (VHIP) model. We first develop an approach for treating zero-step capturability of the VHIP with a novel methodology based on Hamilton-Jacobi (HJ) reachability analysis. Such an approach uses the sub-zero level set of a value function to encode capturability of the VHIP, where the value function is ob...