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Informations générales |
| Auteur |
Zhang, Si; Huang, Qiang; Wang, Huaping; Xu, Wei; Ma, Gan; Liu, Yunhui; Yu, Zhangguo |
| Publié |
InTech Open Access Publisher, 2013
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| Abstract |
When a humanoid robot walks fast or runs, the
yaw torque is so large that the supporting foot slips easily
and the robot may become unstable. The compensation
for the yaw torque is important for fast humanoid
walking and many studies have been focusing on yaw
torque compensation. However, the issue of humanoid
robot motion design that can make the movements of the
robot more human‐like, as well as guarantee the stability
of the robot, has not been studied in‐depth. In this paper,
the mechanism of yaw torque compensating for human
walking is firstly studied. Then we propose a method to
compensate yaw torque for a humanoid robot through
the motion of the arms and waist joint based on the
human yaw torque compensation mechanism and ZMP
stability citation. Finally, the effectiveness of the
proposed method is demonstrated by the results from the
simulation and walking experiments on the newly
developed BHR humanoid robot. |
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International Journal of Advanced Robotic Systems
Auteur: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publié: 2004
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