The paper focuses on researching the biped humanoid walking robot about its dynamic characteristics and the control technology. The humanoid robot adopts the structure of a human body. There are a total of 19 DOF full body which results in a high balanced capacity and easily controlled arms and legs. In this way, the robot can make all kinds of imitation of human actions, such as tai chi, dancing and so on. My robot can serve as a development platform. By installing different modules of sensors to change or expand the functions of the body, the robot can satisfy the users demand in an economical way.
Realization of Tai-Chi Motion Using a Humanoid Robot