Capture Point: A Step toward Humanoid Push Recovery

This page has a PowerPoint presentation, video, and simulations as companion material to the paper "Capture Point: A Step toward Humanoid Push Recovery " by Jerry Pratt, John Carff, Sergey Drakunov, and Ambarish Goswami , presented at the 2006 Humanoids Conference, December 4-6, 2006, Genoa, Italy.

Presentation and Video

• Presentation given at Humanoids 2006.
• Directory of Videos that accompany the Presentation

Simulation

• Walking across discrete steps. In this simulation a 12 degree of freedom lower-body biped walks across discrete steps. The simulation is a Java Applet implemented with the Yobotics! Simulation Construction Set software package.