Humanoid running based on centroidal dynamics and heuristic foot placement

摘要: Inspired by the motion of juggling a ball from one hand to other, humanoid running actually can be treated as its center mass (CoM) leg other. In both cases, stance phase and flight are involved. During phase, CoM trajectories generated based on characteristics. follows ballistic dynamics. However, relative position feet with respect still controlled for subsequent landing. The positions calculated simple heuristic foot placement algorithm considering current state. Afterwards, tracking tasks accomplished torque controller full dynamics robot kinematic dynamic constraints. feasibility proposed control method is fully addressed different simulations.