Distributed hierarchical control system of humanoid robot THBIP-1

被引：0
|
作者：
Shi, ZY [1 ]
Xu, WL [1 ]
Wen, X [1 ]
Jiang, PG [1 ]
机构：
[1] Tsing Hua Univ, Dept Automat, Beijing 100084, Peoples R China
来源：
PROCEEDINGS OF THE 4TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-4 | 2002年
关键词：
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 introduces the control system of humanoid robot THBIP-1 being developed cooperatively by three departments of Tsinghua University. The THBIP-1 robot with 32 actuated joints has a head, a torso, two arms, two legs and two feet. To realize autonomous and self-contained characteristics, a new distributed hierarchical configuration of control system is proposed. It has been shown that the distributed hierarchical control scheme is effective.
引用
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页码：1265 / 1269
页数：5
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