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A waist joint is designed for a humanoid robot in this paper, which has the characteristics of a large range of motion and high mechanical strength. A new method of balance control based on waist joints is also provided. It can effectively increase the stability margin during single support phase. We have been developing BHR, which has 38 DOF (degree of freedom). Each arm of BHR has 11 DOF in total...
Most of low-cost and small-size humanoid robots have been developed by using the conventional mechanism and simple control units. The conventional mechanism has a unique structure when the pose of feet and waist is fixed, and the small humanoid robot has to walk with bending knee joints without waist joints. On the other hand, these small humanoid robots perform low capability in the dynamic walking...
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