Experiments in fast biped walking

In this paper we present work on fast biped walking. We give an overview of our real-time planning and control system and present experimental results of the robot Lola walking at 3.34 km/h. The basic control approach is based on real-time trajectory planning using a reduced robot model and a stabilizing controller that manipulates the contact forces. Unique features of the system include the real-time method for planning center of gravity trajectories using spline collocation, the stabilizing controller which is based on hybrid position/force control and the use of redundancy resolution to decrease joint speeds.