A Benchmarking of DCM-Based Architectures for Position, Velocity and Torque-Controlled Humanoid Robots

Overview

The Divergent Component of Motion (DCM) is a cornerstone of many bipedal walking architectures. This paper provides a systematic benchmark of DCM-based control architectures, evaluating how they behave when the underlying robot is driven in position, velocity, or torque control mode.

Method

• Unified architecture. A layered DCM-based locomotion architecture is implemented so the same high-level planner can drive different low-level control modes.
• Comparative study. Position-, velocity-, and torque-controlled variants are evaluated under consistent conditions to expose their trade-offs.

Results

The benchmark clarifies the strengths and limitations of each control mode for DCM-based walking on humanoid robots. The full implementation is released as the open-source walking-controllers project.