MOTION GENERATION FOR THE UPPER BODY OF HUMANOID ROBOT

摘要

This paper aims at the guarantee of yaw moment requirement for the ZMP convention. In order to compensate for the yaw moment of whole body during motion, we present two motion generation methods for the upper body of the humanoid robot. The ground reactive torque and the effect of arms swinging on whole body locomotion are analyzed. Therefore trunk spinning and arms swinging methods are planned to improve the robot motion stability, based on compensating for the yaw moment. These two methods are further compared with each other from the viewpoint of energy consumption. The performance and the feasibility of the proposed methods are evaluated by the simulation results.