The NING Humanoid: The Concurrent Design and Development of a Dynamic and Agile Platform
<|reference_start|>The NING Humanoid: The Concurrent Design and Development of a Dynamic and Agile Platform: 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.<|reference_end|>
@article{ning2024the,
    title={The NING Humanoid: The Concurrent Design and Development of a Dynamic
  and Agile Platform},
    author={Yan Ning, Song Liu, Taiwen Yang, Liang Zheng, and Ling Shi},
    journal={arXiv preprint arXiv:2408.01056},
    year={2024},
    archivePrefix={arXiv},
    eprint={2408.01056},
    primaryClass={cs.RO}
}