THE PELVIS PLATFORM MECHANISM FOR BIPEDAL STABILITY OF THE HUMANOID ROBOT

摘要

A pelvis platform mechanism for bipedal stability of a humanoid robot is provided to maintain dynamic balance of the robot during walking through three degrees of rotation freedom in the waist and pelvis region of the robot. A pelvis platform mechanism for bipedal stability of a humanoid robot includes three degrees of rotation freedom in the waist and pelvis region of the robot. The final frame angle is determined by the simultaneous control of the three pelvis platform mechanism frames. The mechanism creates additional degree of freedom in order to maintain the specific posture of the robot, and removes disturbance of specific frequency during walking.