Balance Maintenance in High-Speed Motion of Humanoid Robot Arm-Based on the 6D Constraints of Momentum Change Rate

Table 1

Detailed parameters of the arms.

Arms	Length (m)	Mass (kg)	Equivalent cross-section size (m * m)
Upper arm	0.25	3.5	0.1∗0.1
Forearm	0.25	2.5	0.08∗0.08
Hand	0.20	0.5	0.05∗0.05