The paper “Stepping stabilization using a combination of DCM tracking and step adjustment” by M.Khadiv, S. Kleff, A. Herzog, S.A.A. Moosavian, S. Schaal and L. Righetti was a finalist for the best paper award at the 4th RSI International Conference on Robotics and Mechatronics (ICROM).
The paper proposes an algorithm to stabilize bipedal walking using a combination of step adjustment and tracking of the divergent component of motion. The algorithm allows robots to stabilize their walking gait under severe disturbances and provides a simple method to stabilize robots without actuated ankles, such as the Athena robot from the Autonomous Motion Department (https://am.is.tuebingen.mpg.de/pages/robots).
This research was done in the Motion Generation and Control Group (http://motiongroup.is.tuebingen.mpg.de/) for the ERC StG Grant project CONT-ACT. Majid Khadiv spent a year as a visiting student from K. N. Toosi University of Technology, Tehran, Iran.