Push Recovery by stepping for humanoid robots with force controlled joints

In order to interact with human environments, humanoid robots require safe and compliant control which can be achieved through force-controlled joints. In this paper, full body step recovery control for robots with force-controlled joints is achieved by adding model-based feed-forward controls. Push Recovery Model Predictive Control (PR-MPC) is presented as a method for generating full-body step recovery motions after a large disturbance. Results are presented from experiments on the Sarcos Primus humanoid robot that uses hydraulic actuators instrumented with force feedback control.