The influence of the swaying arm angle range to the torso torque of the humanoid robot during walking

The swing arm 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 swinging arm to reduce the torque at the torso in the vertical direction. The torso torque, τ_t is computed using a method which utilizes the servo torque of hip and shoulder joints. The approach is tested using H25V33 NAO humanoid robot in the Webot™ Robotic Simulator. The result indicates that the method is successful in reducing the torso torque, τ_t during humanoid robot walking.