Compliant attitude control and stepping strategy for balance recovery with the humanoid COMAN

In this paper we describe an approach for hu-manoid robot balance recovery that combines a novel attitude control algorithm adding compliance to the robot's behavior and increasing the smoothness of its motion, and an omnidirectional stepping strategy that can trigger one or two steps based on a measured disturbance vector. The proposed method is validated through experiments with the inherently compliant humanoid COMAN.

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