Distributed compensation and role of hands in the synthesis of biped motion with enhanced degree of anthropomorphism

Abstract

Rapid development of humanoid robots brings about new shifts of the boundaries of Robotics as a scientific and technological discipline. In relation to this, the work raises some new fundamental questions concerning the necessary anthropomorphism of humanoid robots, and how to achieve sufficiently high degree of anthropomorphism with a reasonable number of degrees of freedom. The paper describes a study of the role of hands and two-link trunk in the synthesis of anthropomorphic gait is investigated.