Analysis of physical capability of a biped humanoid: walking speed and actuator specifications

The reliability of stable walk and the development of high performance components are two crucial issues to develop a humanoid with human-like physical capability. In order to for the humanoid to walk smoothly and to adapt to unknown environments, we first propose a balance control that combines a feedforward dynamic pattern and a feedback sensory reflection. Then, we present a method for clarifying the relationship between the physical capability and actuator´s specifications. Using this method, it is possible to predict the walking speed based on known actuator specifications and to obtain the necessary specifications to accomplish a desired walking speed. Finally, experiments of an 26-DOF humanoid and simulation examples are provided to illustrate the effectiveness of the proposed method