What does this research mean for the field?

Combining Single Rigid Body model predictive control (SRB-MPC) with Hybrid Linear Inverted Pendulum (HLIP) dynamics to enable environmental bracing with arms significantly improves push recovery and perturbation rejection in humanoid robots compared to HLIP alone. Novelty: ClaimNovelty.METHODOLOGICAL. Consensus alignment: ConsensusAlignment.NEUTRAL.

September 30, 2025Open Access

Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models

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Authors

LYLizhi Yang BWBo Werner AGAdrian B. Ghansah

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Cite This Study

Yang et al. (2025) studied this question.

synapsesocial.com/papers/6a448202106c165f2c35428c https://doi.org/10.1109/humanoids65713.2025.11203086

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September 30, 2025Open Access

Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models

View Full Paper

Ask AI

Bookmark

Authors

LYLizhi Yang BWBo Werner AGAdrian B. Ghansah

Discussion

Member takes

Overview

Key Points

Key points are not available for this paper at this time.

Cite This Study

Yang et al. (2025) studied this question.

synapsesocial.com/papers/6a448202106c165f2c35428c https://doi.org/10.1109/humanoids65713.2025.11203086

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