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In this paper, 3D humanoid walking is decoupled into periodic andtransitional motion, each of which is decoupled into planar walking in thesagittal and lateral plane. Reduced order models (ROMs), i.e. actuatedSpring-loaded Inverted Pendulum (aSLIP) models and Hybrid-Linear InvertedPendulum (H-LIP) models, are utilized for motion generation on the desiredcenter of mass (COM) dynamics for each type of planar motion. The periodicmotion is planned via point foot (underactuated) ROMs for dynamic motion withminimum ankle actuation, while the transitional motion is planned viafoot-actuated ROMs for fast and smooth transition. Composition of the planarCOM dynamics yields the desired COM dynamics in 3D, which is embedded on thehumanoid via control Lyapunov function based Quadratic programs (CLF-QPs).Additionally, the ground reaction force profiles of the aSLIP walking are usedas desired references for ground contact forces in the CLF-QPs for smoothdomain transitions. The proposed framework is realized on a lower-limbexoskeleton in simulation wherein different walking motions are achieved.

Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control