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arXiv · 2408.01056

The NING Humanoid: The Concurrent Design and Development of a Dynamic and Agile Platform

Yan Ning·Song Liu·Taiwen Yang·Liang Zheng·Ling Shi
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Abstract

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.

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Yan Ning, Song Liu, Taiwen Yang, Liang Zheng, Ling Shi. 2024-08-02. The NING Humanoid: The Concurrent Design and Development of a Dynamic and Agile Platform. https://arxiv.org/abs/2408.01056

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