Research paper
Capture basins for balance and step recovery
Sums-of-squares optimization estimates inner and outer capture basins and synthesizes step-recovery control. Centroidal walking models compare how center-of-mass height, angular momentum and impacts affect recoverable balance.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Balancing and Step Recovery Capturability via Sums-of-Squares Optimization
- Publisher
- Robotics: Science and Systems Foundation
- Authors
- Michael Posa, Twan Koolen, Russ Tedrake
- DOI
- 10.15607/rss.2017.xiii.032
- Proceedings publication date
- 2017-07-12
- Source language
- en
- Edition
- Robotics: Science and Systems XIII
- Access
- Public bibliography and abstract
- Publication status
- Published
Source overview
Sums-of-squares optimization estimates inner and outer capture basins and synthesizes step-recovery control. Centroidal walking models compare how center-of-mass height, angular momentum and impacts affect recoverable balance.
Use and review
Balance and capturability concern fall prevention within a model. They do not establish safe human contact, obstacle avoidance or complete robot safety.
Sources & editions
Balancing and Step Recovery Capturability via Sums-of-Squares Optimization ↗
Robotics: Science and Systems Foundation · Robotics: Science and Systems XIII
Owning RSS2017 title/authors/DOI/abstract/BibTeX checked. Formal/numerical model analysis, not physical fall-prevention validation.