@inproceedings{ac82fc64ca4f46b58b901fb1bcbdacbf,
title = "The arm and waist motion design of humanoid robot for fast walking",
abstract = "Humanoid robot is easy to slip and become unstable when it walks fast or runs because of the large yaw torque. This paper works on improving stability of humanoid robot for fast walking through arm and waist motion design. Inspired by human walking mechanism, we present a method for generating a human-like motion pattern though arm and waist motion design for a humanoid robot. The method is to compensate the yaw torque generated by the swing leg. More specifically, we extend our previous work on yaw torque compensation by adding vertical waist motion of the robot instead of restricting the waist motion on a certain height. And the effectiveness of this method is confirmed by the experiments conducted in simulation with a walking motion at the speed of 2km/h.",
keywords = "Fast walking, Humanoid robot, Vertical waist motion, Yaw torque compensation",
author = "Si Zhang and Ye Tian and Xuechao Chen and Zhangguo Yu and Qiang Huang and Yunhui Liu and Junyao Gao",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015 ; Conference date: 02-08-2015 Through 05-08-2015",
year = "2015",
month = sep,
day = "2",
doi = "10.1109/ICMA.2015.7237655",
language = "English",
series = "2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1193--1198",
booktitle = "2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015",
address = "United States",
}
