Whole Body Angular Momentum
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From [5] and [6] of Angular Momentum - Rigid Body, the whole body angular momentum about its CM is the sum of those of the segments about the whole body CM:

    [1]

where HRi = the remote angular momentum term of segment i, and HLi = the local angular momentum term. From Figure 1 and [5] and [6] of Angular Momentum - Rigid Body:

    Figure 1

    [2]

where ri = the relative position of the segment CM to the whole body CM, vi = the relative velocity of the segment CM to the whole body CM, ICMi = the inertia tensor of the segment, and wi = the angular velocity of the segment.

From [1] and [2]:

    [3]

where

    [4]

and Ti/G = the transformation matrix from the global frame to frame i, and ICM = the inertia tensor of the segment about its CM.

 

Young-Hoo Kwon, 1998-