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

被引：0
|
作者：
Zhang, Si [1 ]
Tian, Ye [1 ,2 ]
Chen, Xuechao [1 ,2 ,4 ]
Yu, Zhangguo [1 ,2 ,4 ]
Huang, Qiang [1 ,2 ,3 ,4 ]
Liu, Yunhui [2 ,5 ]
Gao, Junyao [1 ,2 ,3 ,4 ]
机构：
[1] Beijing Inst Technol, Intelligent Robot Inst, Sch Mechatron Engn, Beijing 100081, Peoples R China
[2] Beijing Inst Technol, Minist Educ, Key Lab Biomimet Robots & Syst, Beijing 100081, Peoples R China
[3] State Key Lab Intelligent Control & Decis Complex, Beijing 100081, Peoples R China
[4] Beijing Inst Technol, Minist Educ, Int Joint Res Lab Biomimet Robots & Syst, Beijing 100081, Peoples R China
[5] Chinese Univ Hong Kong, Dept Mech & Automat Engn, Hong Kong, Hong Kong, Peoples R China
来源：
2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION | 2015年
关键词：
Yaw torque compensation; Vertical waist motion; Humanoid robot; Fast walking;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：1193 / 1198
页数：6
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