Effect and motion planning of waist for humanoid robot dynamatic stability

Dynamically stable motion and safety of humanoid robots is must achieved because they are expacted to cooperate and interact with human beings. The synthesis of mechanism of the waist is described and a new waist configuration with parallel driving motor is developed. The center of gravity position kinematics model is built to obtain its change situation. Because the dynamatic behavior of manipulator and waist has an effect on the stability of humanoid robots, the dynamatic model is built. By using the zero moment point, dynamic effect of the waist is obtained and the correctness of analysis is verified by experiments.