Abstract
The commercial Nao humanoid robot has 11 DOF in legs. Even if these legs include 12 revolute joints, only 11 actuators are employed to control the walking of the robot. Under such conditions, the mobility of the pelvis and that of the oscillating foot are mutually constrained at each step. Besides, the original gait provided by the manufacturer company of the Nao employs only single support phases during the walking. Because of both issues, the reduced mobility in legs and the use of only single support phases, the stability of the walking is affected. To contribute to improving such stability, in this paper an approach is proposed that incorporates a double support phase and a gait based on cycloidal time functions for motions of the pelvis and those of the oscillating foot. To assess the stability of the walking an index is applied, which is based on the notion of zero-moment point (ZMP) of the static foot at each step. Results of experimental tests show that the proposed gait enhances the stability of the robot during the walking.
Highlights
Most of the humanoid robots studied in the scientific literature have kinematic chains with 6 degrees of freedom (DOF) per leg so that the poses (i. e. positions and orientations) of both the torso and the oscillating foot can be fully controlled in the 3D space during the walking [1,2,3,4,5,6,7]
The original gait provided by the manufacturer company of the Nao uses only a single support phase (SSP) during a step of the walking
A strategy was proposed in this paper to improve the stability of the Nao humanoid robot during the walking
Summary
Most of the humanoid robots studied in the scientific literature have kinematic chains with 6 degrees of freedom (DOF) per leg so that the poses (i. e. positions and orientations) of both the torso and the oscillating foot can be fully controlled in the 3D space during the walking [1,2,3,4,5,6,7]. E. positions and orientations) of both the torso and the oscillating foot can be fully controlled in the 3D space during the walking [1,2,3,4,5,6,7]. The popular Nao humanoid robot has only 11 DOF in the legs [8]. Even if this robot has 12 revolute joints in the legs, it uses only 11 motors to control the joint motions. The rotations of the sixth and seventh joints are controlled by using only one actuator. Under such conditions, the 3D motion of the torso and the oscillating foot cannot be independently specified. Getting stable gaits in the robot becomes a complex issue
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