Analysis of vibrations at the single-double support switch time in a humanoid robot

Impact vibration is one of the key factors affecting the stability and speed of humanoid robot walking especially vibration at the single-double support switch time. The structural vibrations affecting the walking of a humanoid robot, the THBIP-Ⅰ biped, were studied with a three-dimensional finite element modal analysis using ANSYS code. The inherent frequencies and the vibration shapes of THBIP-Ⅰ were calculated using a precise finite element analysis (FEA) model for the robot. The effects of the rigidity, gap and contact on the vibrations of THBIP-Ⅰ were also investigated based on a statics analysis and frequency tests. Comparison of the FEA results with the results of the frequency tests indicate that the FEA model of the robot can be used to analyze its mechanical characteristics.