Static Walk of a Humanoid Robot Based on the Singularity-Consistent Method

— This paper addresses the problem of naturally looking and energy efficient walk of biped humanoids. We presuppose that such walk requires motion control capability around kinematic singularities, such that the knee can be fully extended. This problem is tackled by adopting the SingularityConsistent method devoloped for manipulator motion control at and around kinematic singularities. We implemented the method with a HOAP-2 humanoid robot, demonstrating stable static walk as a first step in this direction.

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Kentaro Takahashi, M. Noda, Dragomir N. Nenchev, Yuichi Tsumaki, Akinori Sekiguchi
• Keywords: IROS 2006, Kinematic Singularities, Motion Control, Robotics, Walk Requires Motion