Robust balancing even under severe disturbances such as external pushes is a key capability for bipedal humanoid robots. At the H2T we aim at developing new, human inspired strategies for generating robust push recovery behaviour. This includes the development of suitable dynamic simulation approaches, push recovery behaviour generation and evaluation on real robots.

Possible theses topis in this field of research are:

• Systematic evaluation of dynamic robot models regarding their applicability to walking and push recovery
• Development and evaluation of new dynamic simulation models
• Development and evaluation of new push recovery strategies for bipedel robots
• Multi modal analysis of human push recovery behaviour in our motion capture lab, data analysis and synthesis of push recovery behaviour generators applicable to bipedal robots
• Evalution of push recovery strategies on a robotic platform (e.g. the Aldebaran NAO or the ARMAR-4)