RH5 Pedes humanoid
Melya Boukheddimi, Ivan Bergonzani, Shivesh Kumar, Heiner Peters, Frank Kirchner
Editors: Shivesh Kumar, Andreas Müller, Frank Kirchner
In Biologically Inspired Series-Parallel Hybrid Robots, Academic Press, volume 1, chapter 15, pages 333-353, Dec/2024. ISBN: 978-0-323-88482-2.
Zusammenfassung (Abstract)
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Several studies highlight the significance of an anthropomorphic mass and length distribution in robot design. Based on these ideas, a bio-inspired humanoid robot is designed, with the aim of approaching human capabilities. The RH5 Pedes whole body robot is presented, its mechanical and electrical design choices are detailed and justified. As a use case, walking motions are computed using the optimal control method then presented in simulation. Afterwards, these trajectories are stabilized online using the whole-body control approach. The methods and obtained results are discussed, suggesting improvement axes for future work.
Stichworte
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humanoid robot, optimal control, whole-body control, series–parallel hybrid design
Links:
https://www.sciencedirect.com/science/article/pii/B9780323884822000251