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Walking With Arm Swinging and Pelvis Rotation Generated With the Relative Angular Acceleration

A natural-looking arm swinging in biped locomotion can be generated by appropriately controlling the quantities derived from the momentum equilibrium principle such as the rate of change of the relative angular momentum or the relative angular acceleration (RAA). The arm swinging compensates completely the undesirable yaw moment generated by the swing leg. The RAA control input can also be used to control the angular excursion of the pelvis that contributes to the compensation of the yaw moment, either in a passive or in an active way. It is shown that by varying the intensities of the arm swinging and the pelvis rotation, human-like gaits can be easily generated. The yaw-moment compensation strategies are implemented with a recently developed walking controller that distributes the body wrench with the so-called virtual repellent point (VRP) generalized inverse (VRP-GI). This controller is time-efficient since iterative computations are avoided. The performance of the controller in dynamic walking with arm swinging and passive/active pelvis rotation is confirmed via simulations.