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Swing arms have an irreplaceable role in promoting highly dynamic locomotionon bipedal robots by a larger angular momentum control space from the viewpointof biomechanics. Few bipedal robots utilize swing arms and its redundancycharacteristic of multiple degrees of freedom due to the lack of appropriatelocomotion control strategies to perfectly integrate modeling and control. Thispaper presents a kind of control strategy by modeling the bipedal robot as aflywheel-spring loaded inverted pendulum (F-SLIP) to extract characteristics ofswing arms and using the whole-body controller (WBC) to achieve thesecharacteristics, and also proposes a evaluation system including three aspectsof agility defined by us, stability and energy consumption for the highlydynamic locomotion of bipedal robots. We design several sets of simulationexperiments and analyze the effects of swing arms according to the evaluationsystem during the jumping motion of Purple (Purple energy rises in theeast)V1.0, a kind of bipedal robot designed to test high explosive locomotion.Results show that Purple's agility is increased by more than 10 percent,stabilization time is reduced by a factor of two, and energy consumption isreduced by more than 20 percent after introducing swing arms.

Highly dynamic locomotion control of biped robot enhanced by swing arms