Momentum compensation for the dynamic walk of humanoids based on the optimal pelvic rotation

Abstract

In this paper, a method of determining the optimal rotation of the humanoid's waist for momentum compensation around the perpendicular axis of the stance foot during dynamic walk is proposed. In order to perform a task using the arms during a walk, it is desirable that the upper body part, i.e., the arms and the trunk, should not be used for the momentum compensation and should be dedicated to achieving a task. The proposed walk achieves a whole walking motion including momentum compensation only by the lower body. The characteristics of the trunk-twistless walk are analyzed by using the mathematical model. The optimal relative phase of the swing leg and the pelvic rotation appears to be in an angle around. And we also confirm that the torque around the perpendicular axis is reduced in the proposed trunk-twistless walk of humanoid when compared to a standard humanoid walk without the twisting of the trunk or swinging of the arms. © 2006 Springer-Verlag Berlin Heidelberg.