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In this paper, we propose a novel framework capable of generating variouswalking and running gaits for bipedal robots. The main goal is to relax thefixed center of mass (CoM) height assumption of the linear inverted pendulummodel (LIPM) and generate a wider range of walking and running motions, withouta considerable increase in complexity. To do so, we use the concept of virtualconstraints in the centroidal space which enables generating motions beyondwalking while keeping the complexity at a minimum. By a proper choice of thesevirtual constraints, we show that we can generate different types of walkingand running motions. More importantly, enforcing the virtual constraintsthrough feedback renders the dynamics linear and enables us to design afeedback control mechanism which adapts the next step location and timing inface of disturbances, through a simple quadratic program (QP). To show theeffectiveness of this framework, we showcase different walking and runningsimulations of the biped robot Bolt in the presence of both environmentaluncertainties and external disturbances.

A unified framework for walking and running of bipedal robots