Abstract—Humanoid robots are defined as a robot which is created with the idea that it resembles a human being in not just its appearance but also displaying emotions, forging relationships, making decisions, and developing as they learn through interactions with the environment. However, even though these aspects of humanoid robots are important what brings it closest to a human as compared to other robots is its ability to walk like them. Various aspects of the locomotion mechanism have been brought to light in this paper. The work of some researchers has been reviewed to draw up a better understanding of the current research that has been going on and how it has changed the visage of locomotion of humanoids today. Factors such as Zero Moment Point, importance of the usage of Central Pattern Generators, the Gaits algorithm, exploratory gaze movements, the various locomotion control techniques and the room awareness algorithm with selflocalisation strategies, have been discussed to demonstrate how they have influenced the efficiency and effectiveness of a humanoid.
Index Terms—Humanoid robot, bipedal locomotion, ZMP, CPG.
The authors are with the B.M.S College of Engineering, Bangalore- 560019, Karnataka, India (e-mail: shrutimundra.20@gmail.com, agarwal48@gmail.com).
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Cite:Shruti Mundra and Shiv Bhagwan Agarwal, "Importance of Locomotion and Its Dominance over Other Factors," International Journal of Materials, Mechanics and Manufacturing vol. 2, no. 2, pp. 126-132, 2014.
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