In this paper, mechanical part design of small humanoid robot(HSR5) and control algorithms are introducted. First, mechanical part design is commented. And then, 2 phase off-line gait generation method is explained. Finally, on-line ZMP compensation method is described.
HSR5(HanSaRam5) is consisted of 12 DC motors in lower body and 16 RC servo motors in upper body. Design of lower body is focused on sufficient power and zero backlash. For zero backlash, Harmonic drives are used. Actuation part(DC motor+Harmonic drive) is designed as a single module for simplicity and recycling. In design of upper body, 16 RC servo motors are used for sufficient D.O.F, light weight and simple control method.
Off-line gait is constructed in 2 phase. In Second phase, the gait generated in first phase is modified to cancel yawing moment by swinging arms. It is accomplished without effecting ZMP criterion made in first phase.
On-line ZMP compensation method is as follows. In walking state, real ZMP is collected by far sensors beneath foot and compared with off-line ZMP trajectory. If ZMP error exceeds predefined boundary, ZMP compensation occurred througth shaking torso.
