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In this paper we present advancements in control and trajectory generationfor agile behavior in bipedal robots. We demonstrate that Whole-BodyOperational Space Control (WBOSC), developed a few years ago, is well suitedfor achieving two types of agile behaviors, namely, balancing on a high pitchsplit terrain and achieving undirected walking on flat terrain. The workpresented here is the first implementation of WBOSC on a biped robot, and morespecifically a biped robot with series elastic actuators. We present andanalyze a new algorithm that dynamically balances point foot robots by choosingfootstep placements. Dealing with the naturally unstable dynamics of these typeof systems is a difficult problem that requires both the controller and thetrajectory generation algorithm to operate quickly and efficiently. We putforth a comprehensive development and integration effort: the design andconstruction of the biped system and experimental infrastructure, acustomization of WBOSC for the agile behaviors, and new trajectory generationalgorithms. Using this custom built controller, we conduct, for first time, anexperiment in which a biped robot balances in a high pitch split terrain,demonstrating our ability to precisely regulate internal forces using forcesensing feedback techniques. Finally, we demonstrate the stabilizingcapabilities of our online trajectory generation algorithm in the physics-basedsimulator and through physical experiments with a planarized locomotion setup.

Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking