Bipedal walking with dynamic balance that involves three-dimensional upper body motion

We have implemented the proposed walking pattern and control method on the humanoid robot NAO. Walking experiments have verified that the proposed scheme improves the dynamic balance of the robot. Besides, we have investigated the energy consumption at the knee joint actuators and the overall energy consumption at all the joints of both legs, by using NAO that fulfills the conventional walking pattern and the proposed walking pattern respectively. Experiments have proved that (i) knee-stretched motion can improve the walking efficiency of a humanoid robot; and (ii) the proposed walking pattern is more efficient.