Abstract
We present a new walking control scheme based onthe dynamics of the inverted pendulum. Our scheme includes re-planning the step locations and step timings, feet force control,and a walking pattern generation that is closed-loop thanks tofeedback in the state of the real humanoid robot pendulum(CoM position/speed and ZMP). No additional control policyis used to maintain the static and dynamic balance of thehumanoid. We experimented this framework on five differenthumanoid robots over multiple disturbances including suddenpushes during walking or in a static state and by achievinglocomotion over uneven and compliant grounds.