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.

翻译：近年来，对能够完成跳跃、空翻等动态任务的敏捷人形机器人的研究兴趣激增，这亟需一种能够将卓越硬件性能与有效控制算法相结合的机器人平台的协同设计。本文介绍NING人形机器人，这是一个旨在实现类人运动能力的敏捷且鲁棒的平台。NING人形机器人具备高扭矩执行器、基于质心动力学（Centroidal dynamics）的鲁棒机械协同设计，以及全身模型预测控制（WB-MPC）框架。其身高1.1米，重20公斤，拥有18个自由度（DOFs）。该平台展示了令人印象深刻的能力，例如在高控制带宽下行走、抗冲击恢复以及爬楼梯。我们的阐述将涵盖硬件协同设计、控制框架，以及仿真和实时实验。