The Study of Limbs Torque Behaviour During Humanoid Robot Walking

The upper and lower limbs motion is a natural phenomenon that realized in humanoid robot walking. The swaying arm angle range,  is introduced in this study to utilize the humanoid robot arm during walking. The main idea of this technique is the employment of RShoulderPitch, LShoulderPitch, RHipPitch and LHipPitch joint angle to investigate the torque at the torso in the vertical direction. The torso torque,  is computed using a method which utilizes the servo torque of RHipPitch, LHipPitch, RShoulderPitch and LShoulderPitch. The approach is tested using H25V33 NAO humanoid robot in the Webot TM Robotic Simulator. The result indicates that the method is successful in proving the torso torque,  produced during humanoid robot walking.