2024/08/02 by Yan Ning, Ning, Yan, Song Liu +6
Decision Sciences · Engineering · #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Robotics (cs.RO) #Robotics and Automated Systems #Scientific Computing and Data Management
paper · pdf · doi:10.48550/arxiv.2408.01056
openalex publication_date 2024/08/02 · openalex created_date 2025/01/13 · openalex updated_date 2026/07/28
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.