Swing arms have an irreplaceable role in promoting highly dynamic locomotion on bipedal robots by a larger angular momentum control space from the viewpoint of biomechanics. Few bipedal robots utilize swing arms and its redundancy characteristic of multiple degrees of freedom due to the lack of appropriate locomotion control strategies to perfectly integrate modeling and control. This paper presents a kind of control strategy by modeling the bipedal robot as a flywheel-spring loaded inverted pendulum (F-SLIP) to extract characteristics of swing arms and using the whole-body controller (WBC) to achieve these characteristics, and also proposes a evaluation system including three aspects of agility defined by us, stability and energy consumption for the highly dynamic locomotion of bipedal robots. We design several sets of simulation experiments and analyze the effects of swing arms according to the evaluation system during the jumping motion of Purple (Purple energy rises in the east)V1.0, a kind of bipedal robot designed to test high explosive locomotion. Results show that Purple's agility is increased by more than 10 percent, stabilization time is reduced by a factor of two, and energy consumption is reduced by more than 20 percent after introducing swing arms.

翻译：Swing 手臂具有不可替代的作用,通过从生物机能的角度,通过一个更大的角动力控制空间,在双翼机器人上推动高度动态的动作,从生物机能的角度,可以发挥不可替代的作用,促进双翼机器人在双翼机器人上高度动态的动动动动动动运动。很少有双臂机器人利用摇摆臂及其多度自由的冗余特征,因为缺乏适当的移动控制战略,无法完全整合模型和控制。本文展示了一种控制策略,将双臂机器人建成一个模型,将双翼机器人建成一个双轮旋转的旋转钟(F-SLIP),以提取挥发臂的特性,并利用整个机能控制器(WBC)实现这些特征,并提议一个评估系统,包括我们定义的敏捷性的三个方面,以及双臂机器人高度动态动动动动的稳定性和能量消耗。我们设计了几套模拟实验,并根据紫色运动(东部的紫色能量上升)期间的评价系统分析挥发性武器的影响。V1.0是一种双翼机器人,设计用来测试高爆炸 Locotion。结果显示,紫色的易性能增加了10%以上的10%以上,在武器消耗后,稳定将减少武器消耗率。