The Effect of Swing Arms Posture Motion on Walking Straightness of Humanoid Robot

Abstract:

The study of humanoid robot locomotion has been focusing on the development of walking pattern generation. However, the robot has the possibility of slipping on the ground due to the simultaneous occurrence of translational and rotational motions as a robot is walking. Technically, both issues disrupt the walking straightness of the robot. This study investigates the influence of the robot swing arms posture with a modified walking pattern generation to minimize the problem. Simulations were done by preparing 10 different elbow joint angles with swing arms and each one of them were tested with the same value of Maximum Lifting Height, H. The analysis was done by collecting the data from the Global Positional Sensor (GPS) from the robot and calculating the Root Mean Square Error (RMSE) to determine which variable has the lowest percentage of RMSE. The angular velocity graph was used to analyze the deviation encountered by the robot while walking by determining the average of angular velocity. The results showed that the arm posture of the robot does influence its walking straightness in a small amount.

• Periodical: Applied Mechanics and Materials (Volume 761)
• Pages: 216-220
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.761.216
• Online since: May 2015
• Authors: M.R. Razali, Muhammad Fahmi Miskon*, N.L.A. Shaari
• Keywords: Center of Mass, Humanoid Robot, Swing Arm Posture, Upper Limbs

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