DCM Modulation: A Three-Axis Rotation Stabilization Technique for Bipedal Locomotion Control

Abstract

This paper proposes a simple controller for bipedal locomotion that can stabilize three-axis (roll, pitch, and yaw) rotation without relying on ground reaction moment manipulation. Extra acceleration of the CoM (center-of-mass) from the nominal DCM (divergent component of motion) dynamics generates moment around the CoM. Based on this principle, the behavior of the desired DCM is modulated to carry signal for rotation stabilization. A robust walking controller is synthesized by combining the proposed rotation stabilizer with continuous step adaptation. Simulation study shows that the proposed controller is capable of robust disturbance rejection and yaw-regulated walking of a point-foot robot.