Hyunjong Song, William Z. Peng, Joo H. Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution


For successful push recovery control in response to unpredicted perturbations, a humanoid robot must select the appropriate stabilizing action from a wide range of available strategies. Existing approaches are restricted to a limited range of balancing motions because they are often derived from reduced-order models and ignore system-specific aspects such as swing leg dynamics or joint kinematic/actuation limits. In this work, a novel partition-aware push recovery controller is introduced that can select between the ankle, hip, and captured stepping strategies for balance by evaluating the robot’s center-of-mass (COM) state with respect to different levels of criteria. The criteria are the partition-based stability regions in the augmented COM state space, which are numerically constructed for each balancing strategy. For stepping, both free- and fixed-arm capturability regions were obtained to quantify the effect of arm momenta on balancing capability. The regions are precomputed for control with an optimization-based method that incorporates whole-body system dynamics, contact interactions with the ground, system-specific characteristics, and requirements of the corresponding strategy. Through simulation experiments, the proposed approach was demonstrated to allow the controller to fully exploit a humanoid robot’s balancing capability and validate the use of pre-computed stability regions as explicit criteria to initiate a proper balancing motion, in contrast to the use of incomplete or implicit criteria in existing controllers.

Original languageEnglish (US)
Title of host publication46th Mechanisms and Robotics Conference (MR)
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791886281
StatePublished - 2022
EventASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2022 - St. Louis, United States
Duration: Aug 14 2022Aug 17 2022

Publication series

NameProceedings of the ASME Design Engineering Technical Conference


ConferenceASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2022
Country/TerritoryUnited States
CitySt. Louis


  • humanoid robot
  • partition-aware stability control
  • push recovery
  • stability region
  • whole-body capturability

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation


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