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Motion generation for the upper body of humanoid robot

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2 Author(s)
Dengpeng Xing ; Shanghai Jiaotong Univ., Shanghai, China ; Jianbo Su

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.

Published in:

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Date of Conference:

15-18 Dec. 2009

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