Abstract
In this paper, biped walking posture and design are evaluated through dynamic reconfiguration manipulability shape index (DRMSI). DRMSI is the concept derived from dynamic manipulability and reconfiguration manipulability with remaining redundancy. DRMSI represents the ability of dynamical system of manipulators possessing shape changing acceleration in task space by normalized torque inputs, while the hand motion is assigned as the primary task. Besides, we use visual lifting approach to stabilize the walking and stop falling down. In this research, the primary task is to make the position of the head direct to the desired one as much as possible. And realizing the biped walking is the second task. This research indicates that proposed dynamical-evaluating index is effective in evaluating the biped walking motion and biped humanoid robot has the adjustable configuration to walk with higher flexibility. Flexibility represents the dynamical shape changeability of humanoid robot based on redundancy of the humanoid robot with the premise of the primary task given to keeping the head position high.
Highlights
Many researchers made their efforts to control humanoid walking and proposed many effective methods to measure walking flexibility
ZMP-based walking motion is considered as the most effective method, which has been certified as a useful control method to increase stability of practical biped walking in the real world, because it can make sure that the humanoid can get the balance of walking and standing by keeping the ZMP within the convex hull of supporting area [1]
We describe dynamical redundancy of humanoid biped walking in this paper, explaining the concept of dynamical reconfiguration manipulability shape index (DRMSI) [9]
Summary
Many researchers made their efforts to control humanoid walking and proposed many effective methods to measure walking flexibility. We describe dynamical redundancy of humanoid biped walking in this paper, explaining the concept of dynamical reconfiguration manipulability shape index (DRMSI) [9]. Considering the condition of executing task-1 (keeping the height of head) and task-2 (lowering the height of waist) is set. These tasks can be executed under an assumption that humanoid’s eyes should be directed to target object during the walking process. We find that humanoid robot can adjust suitable configuration by changing the visual-lifting gains in VLA to improve walking stability on the even floor based on the value of DRMSI with remaining redundancy from simulation results
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