Integrated motion control for walking, jumping and running on a small bipedal entertainment robot

This paper proposes the integrated motion control method to make a bipedal humanoid walk, jump and run. This method generates dynamically consistent motion patterns in real-time based on the concept of the dynamics filter, which assures that the force and the moment generated by the robot can equilibrate with that caused by the environment. The validity of the algorithm is verified by the dynamic simulation. The proposed method is applied to the real humanoid "QRIO" under the adaptive controls, and stable walking, jumping and running including the transitions between them are realized.