Realization of natural dynamic walking using the angular momentum information

In biped locomotion systems, the angular momentum of the whole system can be taken as a good index, as seen from the law of conservation of angular momentum. A control method which divides the walking into motions in the sagittal plane and in the lateral plane has been adopted. For motion in the sagittal plane, the angular momentum is placed close to a smooth reference function given in advance by controlling the ankle torque of the supporting leg. For motion in the lateral plane, the motion control is treated as a regulator problem with two equilibrium states. The effectiveness of the proposed control method has been examined by experiments with the BLR-G2 walking robot. The BLR-G2 achieved 3-D walking at a speed of 0.35 m/s