Control system design of THBIP-1 humanoid robot

This Paper describes the progress of the control system design and implementation of THBIP-I humanoid robot over the past two years. This project involved three Laboratories responsible for lower limbs, upper limbs and general control respectively. The aim of this project is to construct a prototype anthropomorphic robot, which. can work in human daily enviromnent and can collaborate with human beings. The robot totally has 32 degree of freedoms and each joint is driven by a brushless DC electronic motor. Screw/nuts transmission mechanism is adapted in some joints of lower limbs to achieve compact and good dynamic performance. The control system of the robot has four subsystems: Remote Brain Work Station, Mobile Controller, Distributed Control Units and Sensor Processing Unit. At the Present State, the Lower limbs and upper limbs has been built and tested, and with the off line gait planning. The distributed Control Units use PID schemes to servo the pre-generated joint trajectories. Under this architecture, the robot can perform a stable walking with 30 centimeters step at 20 second per step. Advanced control schemes for dynamic walking and DSP-based Distributed Control Units are under developing and simulated in the computer software.