The Arm and Waist Motion Design of Humanoid Robot for Fast Walking

Humanoid robot is easy to slip and become unstable when it walks fast or runs because of the large yaw torque. This paper works on improving stability of humanoid robot for fast walking through arm and waist motion design. Inspired by human walking mechanism, we present a method for generating a human-like motion pattern though arm and waist motion design for a humanoid robot. The method is to compensate the yaw torque generated by the swing leg. More specifically, we extend our previous work on yaw torque compensation by adding vertical waist motion of the robot instead of restricting the waist motion on a certain height. And the effectiveness of this method is confirmed by the experiments conducted in simulation with a walking motion at the speed of 2km/h.