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In the control of bipedal locomotion, linear velocity of the center of masshas been widely accepted as a primary variable for summarizing a robot's statevector. The ubiquitous massless-legged linear inverted pendulum (LIP) model isbased on it. In this paper, we argue that angular momentum about the contactpoint has several properties that make it superior to linear velocity forfeedback control. So as not to confuse the benefits of angular momentum withany other control design decisions, we first reformulate the standard LIPcontroller in terms of angular momentum. We then implement the resultingfeedback controller on the 20 degree-of-freedom bipedal robot, Cassie Blue,where each leg accounts for nearly one-third of the robot's total mass of35~Kg. Under this controller, the robot achieves fast walking, rapid turningwhile walking, large disturbance rejection, and locomotion on rough terrain.The reasoning developed in the paper is applicable to other control designphilosophies, whether they be Hybrid Zero Dynamics or Reinforcement Learning.

Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller