Online Centroidal Angular Momentum Reference Generation and Motion Optimization

This video presents a push recovery algorithm for humanoid robots in balancing scenarios by exploiting the system’s rotational dynamics. The robot actively generates centroidal angular momentum (CAM) references based on the force magnitude and direction of the push to counteract the disturbance and maintain its balance.
An in-depth discussion of the presented results is provided in the paper “Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery”.