Humanoid Running based on 3D COG-ZMP Model and Resolved Centroidal Viscoelasticity Control

Dynamic motion including a flight phase is a challenging topic in humanoid robotics research, especially a running motion. The stability in the stance phase and the accuracy of the foot control in flight phase are important for this kind of motion. This paper presents a humanoid running motion, applying the resolved viscoelasticity control (RVC) including the centroidal viscoelasticity that we proposed in the previous report. Combining the RVC with real-time trajectory modification, we can achieve a stable foot landing and eventually stable running motion. Effectiveness of this control approach is validated by forward dynamics simulations.