Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller

Understand

In the control of bipedal locomotion, linear velocity of the center of mass has been widely accepted as a primary variable for summarizing a robot's state vector.

• The ubiquitous massless-legged linear inverted pendulum (LIP) model is based on it.
• In this paper, we argue that angular momentum about the contact point has several properties that make it superior to linear velocity for feedback control.
• So as not to confuse the benefits of angular momentum with any other control design decisions, we first reformulate the standard LIP controller in terms of angular momentum.