Modular design for small humanoid robots based on robbus

A modular design method for small humanoid robots using the robbus as the control bus is present in this paper, which has a good performance both on the real-time control and compatibility of the system. Then an improved walking planning method is explored on this robot. Considering the requirement of dynamic application environment and hardware limitations, the conventional walking planning methods can not fit to the low computation performance of small humanoid. In order to solve this problem, an online walking planning method with a new ZMP trajectory has been presented in this paper. There are two primary advantages compared with conventional walking planning methods. First, the new online walking planning can realize walking based on real-time tasks due to its short control period. Secondly, the reduced computation and walking data can fit to the hardware limit of the small humanoid. The effectiveness of the proposed walking planning method was confirmed by experiments.