Biped Locomotion of a 21-DOF Humanoid Robot for Application in Real Environment

Abstract

This report presents the development of basic human-like motions of a 21-DOF humanoid robot Bonten-Maru II with the purpose for application in built-for-human environment and to solve issues of human-robot interaction. We design motion planning consists of kinematics solutions and interpolation formulations to generate trajectory for humanoid robot to attain motions of grasping a wall surface and correct its locomotion direction, avoiding high and low obstacles, and crawling on floor. This research also proposed a basic interaction method for humanoid robot to interact with its environment called "groping-locomotion method." This method was applied in the robot control system. We present experimental results utilizing humanoid robot Bonten-Maru II for each motion planning. Experimental results reveal that the 21-DOF humanoid robot Bonten-Maru II is capable to satisfy basic motions planned in this research. In addition, autonomous motions of the robot's manipulators are managed to demonstrate.