Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion

This paper works with the concept of Divergent Component of Motion (DCM), also called `(instantaneous) Capture Point´. We present two real-time DCM trajectory generators for uneven (three-dimensional) ground surfaces, which lead to continuous leg (and corresponding ground reaction) force profiles and facilitate the use of toe-off motion during double support. Thus, the resulting DCM trajectories are well suited for real-world robots and allow for increased step length and step height. The performance of the proposed methods was tested in numerous simulations and experiments on IHMC´s Atlas robot and DLR´s humanoid robot TORO.