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We introduce a new, analytical method for generating whole-body motions forhumanoid robots, which approximate the desired Composite Rigid Body (CRB)inertia. Our approach uses a reduced five mass model, where four of the massesare attributed to the limbs and one is used for the trunk. This compactformulation allows for finding an analytical solution that combines thekinematics with mass distribution and inertial properties of a humanoid robot.The positioning of the masses in Cartesian space is then directly used toobtain joint angles with relations based on simple geometry. Motions areachieved through the time evolution of poses generated through the desired footpositioning and CRB inertia properties. As a result, we achieve shortcomputation times in the order of tens of microseconds. This makes the methodsuited for applications with limited computation resources, or leaving them tobe spent on higher-layer tasks such as model predictive control. The approachis evaluated by performing a dynamic kicking motion with an igus Humanoid OpenPlatform robot.

Fast Whole-Body Motion Control of Humanoid Robots with Inertia Constraints