NINGヒューマノイド：動的で敏捷なプラットフォームの並行設計と開発
The NING Humanoid: The Concurrent Design and Development of a Dynamic and Agile Platform
高トルクアクチュエータと重心ダイナミクスに基づく機構設計、全身モデル予測制御を統合し、歩行・押し戻し復帰・階段昇降を実現した1.1m・20kg・18自由度の敏捷ヒューマノイドを開発した。
著者: Yan Ning, Song Liu, Taiwen Yang, Liang Zheng, Ling Shi
分類: cs.RO
原文アブストラクト
The recent surge of interest in agile humanoid robots achieving dynamic tasks like jumping and flipping necessitates the concurrent design of a robot platform that combines exceptional hardware performance with effective control algorithms. This paper introduces the NING Humanoid, an agile and robust platform aimed at achieving human-like athletic capabilities. The NING humanoid features high-torque actuators, a resilient mechanical co-design based on the Centroidal dynamics, and a whole-body model predictive control (WB-MPC) framework. It stands at 1.1 meters tall and weighs 20 kg with 18 degrees of freedom (DOFs). It demonstrates impressive abilities such as walking, push recovery, and stair climbing at a high control bandwidth. Our presentation will encompass a hardware co-design, the control framework, as well as simulation and real-time experiments.
