Human-like walking patterns with pelvic rotation for a humanoid robot

Fast and stable walking is one of the important prerequisite for humanoid robots to serve the people. Pelvic rotations play a significant role when one walks fast. This paper proposes a method to generate human-like walking patterns with pelvic rotation in the transverse plane for a humanoid robot to effectively improve its quickness and stability. First, the regularities of pelvic rotation in the transverse plane during human walking are studied. Second, the mechanism design of a humanoid robot waist for pelvic rotations is presented. Then, a walking trajectory planning with pelvic rotation to improve the stability margin is proposed. Finally, the effectiveness of the method is demonstrated through simulations and experiments on BHR-5.