Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control
Min Dai,Xiaobin Xiong,Aaron Ames,Min Dai,Xiaobin Xiong,Aaron Ames
This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact pivot at discrete impact using pre-impact vertical center of mass (COM) velocity. To this end, we utilize the underactuated Linear Inverted Pendulum (LIP) model...
