  In this paper, a method for stabilizing biped robots stepping by a
combination of Divergent Component of Motion (DCM) tracking and step adjustment
is proposed. In this method, the DCM trajectory is generated, consistent with
the predefined footprints. Furthermore, a swing foot trajectory modification
strategy is proposed to adapt the landing point, using DCM measurement. In
order to apply the generated trajectories to the full robot, a Hierarchical
Inverse Dynamics (HID) is employed. The HID enables us to use different
combinations of the DCM tracking and step adjustment for stabilizing different
biped robots. Simulation experiments on two scenarios for two different
simulated robots, one with active ankles and the other with passive ankles, are
carried out. Simulation results demonstrate the effectiveness of the proposed
method for robots with both active and passive ankles.
