01573nas a2200253   4500000000100000000000100001008004100002260001200043653001100055653001300066653001900079653001900098653001800117653001200135100002000147700002100167700001600188245009800204856009800302300001000400490000600410520088900416022001401305       2016                            d  c12/201610aKmeans10aRobotics10aClassification10aHuman Activity10aPush Recovery10aBipedal1 aAnubha Parashar1 aApoorva Parashar1 aSomya Goyal00aPush Recovery for Humanoid Robot in Dynamic Environment and Classifying the Data Using K-Mean  uhttp://www.ijimai.org/journal/sites/default/files/files/2016/11/ijimai20164_2_5_pdf_12005.pdf  a29-340 v43 aPush recovery is prime ability that is essential to be incorporated in the process of developing a robust humanoid robot to support bipedalism. In real environment it is very essential for humanoid robot to maintain balance. In this paper we are generating a control system and push recovery controller for humanoid robot walking. We apply different kind of pushes to humanoid robot and the algorithm that can bring a change in the walking stage to sustain walking. The simulation is done in 3D environment using Webots. This paper describes techniques for feature selection to foreshow push recovery for hip, ankle and knee joint. We train the system by K-Mean algorithm and testing is done on crouch data and tested results are reported. Random push data of humanoid robot is collected and classified to see whether push lie in safer region and then tested on given proposed system.  a1989-1660