The NING Humanoid: The Concurrent Design and Development of a Dynamic and Agile Platform
Fuente:
arXiv
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2024
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866914897649991680 |
|---|---|
| author | Ning, Yan Liu, Song Yang, Taiwen Zheng, Liang Shi, Ling |
| author_facet | Ning, Yan Liu, Song Yang, Taiwen Zheng, Liang Shi, Ling |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_01056 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | The NING Humanoid: The Concurrent Design and Development of a Dynamic and Agile Platform Ning, Yan Liu, Song Yang, Taiwen Zheng, Liang Shi, Ling Robotics 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. |
| title | The NING Humanoid: The Concurrent Design and Development of a Dynamic and Agile Platform |
| topic | Robotics |
| url | https://arxiv.org/abs/2408.01056 |