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Balanced Walking with Capture Steps Read chapter Read first chapter

2015 | OriginalPaper | Chapter

Analytical Solution for Joint Coupling in NAO Humanoid Hips

Authors : Vincent Hugel, Nicolas Jouandeau

Published in: RoboCup 2014: Robot World Cup XVIII

Publisher: Springer International Publishing

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Abstract

Usually the legs of humanoids capable of omnidirectional walking are not underactuated. In other words each one of the six degrees of freedom of the torso can be commanded independently from the leg joint angles. However the NAO humanoid robot has a coupled joint at the hips, which makes 11 degrees of freedom instead of 12 for the locomotor apparatus. As a consequence the trunk of the robot has only 5 independent degrees of freedom when the positions of both feet are fixed, and each leg cannot be commanded independently to execute walking steps. Up to now only bypass solutions have been proposed, where the coupled joint angles are not calculated exactly. This paper describes an analytical solution to determine the exact angle to be applied to the coupled joint. The method uses the positions of both foot ankles in the trunk reference frame and the angle between footprints as inputs, and calculates the yaw angle of the trunk. The solution was demonstrated in a dynamics simulator using the NAO model.

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Footnotes
1
\(R_{xy}=R_x R_y\).
 
2
\(s_x\) and \(c_x\) stand respectively for \(\sin \theta _x\) and \(\cos \theta _x\).
 
3
\(R_{n_1 n_2}\) stands for the element at row \(n_1\) and column \(n_2\) of matrix \(R\).
 
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Metadata
Title
Analytical Solution for Joint Coupling in NAO Humanoid Hips
Authors
Vincent Hugel
Nicolas Jouandeau
Copyright Year
2015
Book
RoboCup 2014: Robot World Cup XVIII

Print ISBN: 978-3-319-18614-6

Electronic ISBN: 978-3-319-18615-3

Copyright Year: 2015

DOI
https://doi.org/10.1007/978-3-319-18615-3_35

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