Arxiv Preprint. The first experiment, shows the Hume biped robot balancing on a high pitch split terrain with and without push disturbances. We implement a Whole-Body Operational Space Controller to compute joint torques consistent with a desired set of operational space accelerations, known contact constraints, and desired internal forces. The internal forces, during multi- contact, correspond to the linear subspace of joint torques that do not cause accelerations of the robot. For undirected walking, Hume continuously steps forward and backward to remain balance. To accomplish this capability, we feed foot trajectories from an algorithm called Continuous Time to Velocity Reversal Online Planner. The planner continuously calculates new trajectories for the feet in an online fashion to recover from disturbances.
