A unified control frame for stable bipedal walking

This paper is presenting a unified control frame to regulate possible undesired motions, which may occur throughout a bipedal walking motion. The proposed frame is based on the combination of orientation control, ZMP control and upper body motion regulation to be able to cope with distinct restriction factors and maintain dynamic balance in a feasible way. It can be plugged into one mass model based trajectory generation methods with inverse kinematics solutions. In order to validate our proposed control frame, we used ZMP based trajectory generation approach and performed several simulations and experiments. In conclusion, we obtained reasonable amounts of decreases in undesired yaw moment, orientation error and ZMP error.