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In this paper, we present a sequential motion planning and control method forgenerating somersaults on bipedal robots. The somersault (backflip orfrontflip) is considered as a coupling between an axile hopping motion and arotational motion about the center of mass of the robot; these are encoded by ahopping Spring-loaded Inverted Pendulum (SLIP) model and the rotation of aFlywheel, respectively. We thus present the Flywheel SLIP model for generatingthe desired motion on the ground phase. In the flight phase, we present amomentum transmission method to adjust the orientation of the lower body basedon the conservation of the centroidal momentum. The generated motion plans arerealized on the full-dimensional robot via momentum-included task spacecontrol. Finally, the proposed method is implemented on a modified version ofthe bipedal robot Cassie in simulation wherein multiple somersault motions aregenerated.

Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control