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This paper presents two motion generation methods for the upper body of the humanoid robot in order to guarantee the equilibrium condition of the yaw moment in bipedal planning based on the ZMP convention. The reactive torque from the ground and the effect of arms swinging on robot's body locomotion are analyzed. Therefore trunk spin motion and arms swinging motion are planned to improve the motion stability of the robot, based on compensating for the yaw moment. These two methods are further compared with each other from the viewpoint of energy consumption. Simulation results evaluate the performance and the feasibility of the proposed methods.
Date of Conference: 15-18 Dec. 2009