Modeling and control of periodic humanoid balance using the Linear Biped Model

We present work on compliant control of dynamic humanoid balance and walking. We use the linear biped model (LiBM) to model the dynamics of balance on two feet. To achieve periodic motion, as in walking, we derive an orbital energy controller for this model. We also present our methods for applying this control to a torque-controlled humanoid robot, which include estimating the center of mass state and generating feed-forward torque commands.