Highly Dynamic Bipedal Locomotion via an Improved Virtual Model Algorithm

In this paper, we propose a new virtual model control(VMC) algorithm combining inverse dynamic control and optimization. In our framework, inverse dynamics algorithm finds the feedforward term of the expected torque of the robot’s centroid. The optimization algorithm finds the optimal foot force based on the sum of the feedforward calculated by the inverse dynamics and the virtual force at the center of mass(COM) calculated by the traditional VMC. We demonstrate the feasibility of our proposed algorithm in the dynamic simulation software.