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In this paper, we propose a biped walking controller that optimized three push recovery strategies: the ankle, hip, and stepping strategies. We suggested formulations that related the effects of each strategy to the stability of walking based on the linear inverted pendulum with flywheel model. With these relations, we could set up an optimization problem that integrates all the strategies, including step time change. These strategies are not applied hierarchically, but applied according to each weighting factor. Various combinations of weighting factors can be used to determine how the robot should respond to an external push. The optimization problem derived here includes many nonlinear components, but it has been linearized though some assumptions and it can be applied to a robot in real time. Our method is designed to be robust to modeling errors or weak perturbations, by exploiting the advantages of the foot. Hence, it is very practical to apply this algorithm to a real robot. The effectiveness of the walking controller has been verified through abstracted model simulation, full dynamics simulation, and a practical robot experiments.
Jeong et al. (Mon,) studied this question.