# Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping

arXiv: https://arxiv.org/abs/2008.02435 · HTML: https://mlsanity.com/paper/2008.02435/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 6 Aug 2020.

## Built on by (most cited first, 2 of 2)

- [A Gait Driven Reinforcement Learning Framework for Humanoid Robots](https://mlsanity.com/paper/2506.08416/) (2025)
- [Model-Informed Safe Reinforcement Learning for Bipedal Locomotion via Step-to-Step Prediction](https://mlsanity.com/paper/2609.34486/) (2026)

## Abstract (arXiv)

In this paper, we propose an efficient approach to generate dynamic and versatile humanoid walking with non-constant center of mass (COM) height. We exploit the benefits of using reduced order models (ROMs) and stepping control to generate dynamic and versatile walking motion. Specifically, we apply the stepping controller based on the Hybrid Linear Inverted Pendulum Model (H-LIP) to perturb a periodic walking motion of a 3D actuated Spring Loaded Inverted Pendulum (3D-aSLIP), which yields versatile walking behaviors of the 3D-aSLIP, including various 3D periodic walking, fixed location tracking, and global trajectory tracking. The 3D-aSLIP walking is then embedded on the fully-actuated humanoid via the task space control on the COM dynamics and ground reaction forces. The proposed approach is realized on the robot model of Atlas in simulation, wherein versatile dynamic motions are generated.