A combination of walking control methods was proposed and implemented on a biped robot. The LIPM-based model predictive control (MPC) was adopted to generate a basic stable walking pattern. The stability of pitch and yaw rotation was improved through pitch and yaw momentum control as a supplementation of MPC. It is found that biped robot walking tends to deviate from the planned walking direction if not considering the rotation friction torque in yaw axis under the support foot. There are basically two methods to control yaw momentum, waist and swing arms rotation control. However, the upper body is often needed to accomplish other tasks. Therefore, a yaw momentum control method based on swing leg dynamics was proposed. This idea does not depend on upper body's motion and is highlighted in this paper. Through experiments, the feasibility of the combination of the control methods proved to be practical in keeping biped robot walking stable both in linear and rotation motion. The pros and cons of the yaw momentum control method were also tested and discussed through comparison experiments, such as walking on flat and uneven terrain, walking with different payloads.
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