Modification of Foot Placement for Balancing Using a Preview Controller Based Humanoid Walking Algorithm

Lunges are an important utility to regain balance under strong perturbed biped walking motions. This paper presents a method to calculate the modifications of predefined foot placements with the objective to minimize deviations of the Zero Moment Point from a reference. The modification can be distributed over different points in time to execute smaller lunges, and an arbitrary point in time can be chosen. The calculation is in closed-form, and is embedded into a well-evaluated preview controller with observer based on the 3D Linear Inverted Pendulum Mode (3D-LIPM).

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