Walking Control of a Humanoid Robot via Explicit and Stable CoM Manipulation with the Angular Momentum Resolution

This paper presents a walking algorithm for bipedal humanoid robots in the motion-embedded CoM Jacobian framework with angular momentum resolution. Walking constraints in the previous resolved momentum control framework are reformulated to utilize motion-embedded CoM Jacobian and reduce computational complexity. In this method, the conventional linear momentum control is replaced by the explicit CoM manipulation and the angular momentum equation only is used for upper body motion resolution without any other subject variables; whole body cooperative motions are completed with the walking constraints expressed by motion-embedded CoM Jacobian. The conventional resolved momentum control is able to play a more unified framework role owing to this method and lose computational weight while making compatibility with the motion-embedded CoM Jacobian framework. Validity and walking stability are demonstrated by the experiment on the real robot, MAHRU-II