Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization.

Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic walking but has significant implementation difficulties when applied to the high degrees of freedom humanoids. The primary impediment is the process of gait design-it is difficult for optimizers to converge on a viable set of virtual constraints defining a gait. This paper presents a methodology that allows for fast and reli...