Planning and control for THBIP-I humanoid robot

被引：0
|
作者：
Fu, Chenglong [1 ]
Shua, Mei [2 ]
Xu, Kai [1 ]
Zhao, Jiandong [1 ]
Wang, Jiamnei [1 ]
Huang, Yuanlin [1 ]
Chen, Ken [1 ]
机构：
[1] Tsinghua Univ, Dept Precise Instrument & Mechan, Beijing 100084, Peoples R China
[2] Beihang Univ, Dept Mechatron Engn, Beijing 100191, Peoples R China
来源：
IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2006年
基金：
中国国家自然科学基金;
关键词：
gait planning; control strategy; joint controller; sensoryfeedback; humanoid robot;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the gait planning method and control strategy for THBIP-1 (Tsinghua Biped Humanoid Robot) to realize stable walking. This robot includes a head, a trunk, two arms, two legs, and two feet, totally 32 DOF (degree of freedom). This project is involved for five years and aimed to realize stable walking in various environments for a self-contained humanoid robot. Firstly, the design issues including mechanical structure and control architecture of the robot are prescribed. Secondly, gait generation method based on optimization of the main support leg is presented, and control strategy composed of local joint controller and sensory feedback controller is also illustrated. The walking experiments show that the robot has the abilities of stable walking on the ground, turning in any direction, and climbing up/down stairs.
引用
收藏
页码：1066 / +
页数：2
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