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This work presents algorithms for the feedback-stabilised walking of bipedalhumanoid robotic platforms, along with the underlying theoretical andsensorimotor frameworks required to achieve it. Bipedal walking is inherentlycomplex and difficult to control due to the high level of nonlinearity andsignificant number of degrees of freedom of the concerned robots, the limitedobservability and controllability of the corresponding states, and thecombination of imperfect actuation with less-than-ideal sensing. The presentedmethods deal with these issues in a multitude of ways, ranging from thedevelopment of an actuator control and feed-forward compensation scheme, to theinclusion of filtering in almost all of the gait stabilisation feedbackpipelines. Two gaits are developed and investigated, the direct fused anglefeedback gait, and the tilt phase controller. Both gaits follow the designphilosophy of leveraging a semi-stable open-loop gait generator, and extendingit through stabilising feedback via the means of so-called corrective actions.The idea of using corrective actions is to modify the generation of theopen-loop joint waveforms in such a way that the balance of the robot isinfluenced and thereby ameliorated. Examples of such corrective actions includemodifications of the arm swing and leg swing trajectories, the application ofdynamic positional and rotational offsets to the hips and feet, and adjustmentsof the commanded step size and timing. Underpinning both feedback gaits andtheir corresponding gait generators are significant advances in the field of 3Drotation theory. These advances include the development of three novel rotationrepresentations, the tilt angles, fused angles, and tilt phase spacerepresentations. All three of these representations are founded on a newinnovative way of splitting 3D rotations into their respective yaw and tiltcomponents.

Analytic Bipedal Walking with Fused Angles and Corrective Actions in the Tilt Phase Space