Tip over avoidance control for biped robot

This paper analyzes the stabilization problem from the energy point of view. Perturbations are detected by the gyros and categorized according to the constraints on the zero-moment point, energy, and walking pattern. Ankle torque is exerted to extend the linear inverted pendulum mode (LIPM). Compensation movement is computed according to the analysis on the energy of LIPM and the influence of disturbance to the energy. The experimental results from both the simulation and the physical robot not only proved effective but also explain various human reactions to disturbance in locomotion.