Grounding the three-dimensional divergent component of motion: Geometric analysis of contact and dynamic stability and its application to humanoid push recovery

Robert Schuller, George Mesesan, Johannes Englsberger, Christian Ott, Jinoh Lee, Alin Albu-Schäffer, Institute of Robotics and Mechatronics, German Aerospace Center , School of Computation, Information and Technology, Technical University of Munich , Automation and Control Institute, Faculty of Electrical Engineering and Information Technology, TU Wien, Department of Mechanical Engineering, South Korea

The International Journal of Robotics Research

Published online on July 31, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
The three-dimensional divergent component of motion (3D-DCM) framework has been successfully utilized to generate center of mass (CoM) trajectories for various locomotion types. While the 3D-DCM encodes the CoM dynamics, it relies on the contact forces ...