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

Abstract

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.

Bilateral control considering singularity based on observation of torque error

“…The singular configuration due to the inverse Jacobian matrix becomes the problem in the bilateral control with different configurations. In this paper, the problem of the singular configuration regarding the inverse Jacobian matrix is avoided by singularity-consistent method [21], [22]. In addition, an error observation method of the torque regarding singularityconsistent method is proposed.…”

Three-dimensional Limit Cycle Walking with joint actuation

“…This problem is related to energy efficiency because a bended-knee stance consumes more energy than a straight-knee one [5]. Several research works have already addressed in various ways the singularity/straight-knee problem under ZMP-based methods [6]- [8].…”