The study of bipedal locomotion is receiving growing attention, with humanoid robots appearing across both research and industry. In the Dynamic Mobility lab, the application of nonlinear control for bipedal locomotion is aimed specifically at achieving dynamically stable locomotion for systems with a human model. This increases the need for control methodologies that directly improve the locomotive robustness to modeling uncertainties. Additionally, it is important that these control methods produce behaviors that are anthropomorphic and comfortable for the human subjects.