A bipedal walking pattern generator that considers multi-body dynamics by angular momentum estimation

Typically, gait pattern generation for bipedal robots utilizes a simplified model, neglecting the rate of change of the angular momentum. In this paper a linear parameter optimization problem for this simplified model, extended by an estimation of the angular momentum, is proposed to generate stable walking patterns that can be solved online and still consider the nonlinear effects of the multi-body model. The scheme was used successfully to generate trajectories for a full-size humanoid robot.