Bipedal balancing control based on the centroidal momentum pivot and the best COM-CMP regulator

For stable walking of bipedal robots it is necessary to stabilize the unactuated degrees of freedom of the robot. Typically this is done by reducing the non-linear multi-body dynamics to a simple approximation and then controlling the linear momentum of the system. In this paper a feedback controller is proposed that also controls the angular momentum in a feedback loop while considering the full multi-body dynamics to extend the set of balanced states.