Influence of rotation of humanoid hip joint axes on joint power during locomotion

摘要

Most of the fully actuated legs of existing humanoids have a straight kinematics, i.e. roll, pitch and yaw joint rotary axes are aligned, respectively, along longitudinal, lateral and vertical axes of the robot's body. This work explores different orientations of the hip joint axes where the yaw joint and the pitch joint axes are rotated about the longitudinal axis, keeping the serial order - yaw, roll and pitch - from the pelvis. Two walking movements are simulated dynamically: forward walk and turn-in-place. The measurements of joint mechanical power (JMP) consumption are used to compare the different kinematics configurations. The results obtained from simulation show that the