The influence of the swaying arm angle range to the torso torque of the humanoid robot during walking

The swing arm motion is a natural phenomenon that realized in humanoid robot walking. The swaying arm angle range is introduced in this study to utilize the humanoid robot arm during walking. The main idea of this technique is the employment of swinging arm to reduce the torque at the torso in the v...

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Bibliographic Details
Published in2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) pp. 93 - 98
Main Authors Razali, Muhammad Razmi, Miskon, Muhammad Fahmi, Bin Bahar, Mohd Bazli
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2015
Subjects
Biology
Legged locomotion
lower limbs
swaying arm angle range
Torque
Torso torque
upper limbs
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Summary:The swing arm motion is a natural phenomenon that realized in humanoid robot walking. The swaying arm angle range is introduced in this study to utilize the humanoid robot arm during walking. The main idea of this technique is the employment of swinging arm to reduce the torque at the torso in the vertical direction. The torso torque, τ t is computed using a method which utilizes the servo torque of hip and shoulder joints. The approach is tested using H25V33 NAO humanoid robot in the Webot™ Robotic Simulator. The result indicates that the method is successful in reducing the torso torque, τ t during humanoid robot walking.
DOI:10.1109/IRIS.2015.7451593