2 research outputs found

    Moment Compensation for Fast Dynamic Walking of Humanoids based on Human Athletes Pelvis Rotation

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    This paper presents a method of momentum compensation around the perpendicular axis of the stance foot during the fast dynamic walk of humanoid robots. In order to perform a task using the arms during a walk, it is desirable that the upper body part, i.e., the arms and the trunk, should not be used for the momentum compensation and should be dedicated to achieving a task. Moreover, a particular walk called a trunk-twistless walk is investigated by experientially observing the pelvic rotation of contact sport athletes. From these observations, an antiphase rotation of the pelvis against the swing leg is observed when compared to the normal walk of a human. This antiphase characteristic of the pelvic rotation is implemented to a humanoid. A method of determining the rotation of the humanoids waist is proposed in conjunction with the pitch angle of the swing legs. The proposed walk achieves a whole walking motion including momentum compensation only by the lower body. The stance foot torque around the perpendicular axis is reduced in the proposed walk compared to a standard humanoid walk without twisting the trunk or swinging the arms. Improvements to the straightness of the walking trajectory and the stability of the upper body during a fast dynamic walk are also confirmed
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