Whole body posture controller based on inertial forces

The goal of our research is to treat different humanoid locomotion modes (walking, running, etc.) with a unified approach. As a step towards this goal, we present a whole body posture controller which imposes the generalized inertial forces of the robot and the position and orientation of the extremities which are not in contact with the ground. The method, based on the Lagrangian dynamics equations, allows to treat the angular momentum, and zmp stability. To validate our approach we have carried out experiments of planar motions on the humanoid robot HRP-2.