Research and Development of Kid-Size Humanoid Robot THBIP-Ⅱ
YI Qiang1, CHEN Ken1,2, LIU Li1,2, FU Chenglong1,2
1. Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China; 2. The State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
伊强, 陈恳, 刘莉, 付成龙. 小型仿人机器人THBIP-Ⅱ的研制与开发[J]. 机器人, 2009, 31(6): 586-593..
YI Qiang, CHEN Ken, LIU Li, FU Chenglong. Research and Development of Kid-Size Humanoid Robot THBIP-Ⅱ. ROBOT, 2009, 31(6): 586-593..
Abstract:To solve technical problems in miniaturization and integration of humanoid robot,and apply humanoid robot in unstructured human life environment,a new kid-size humanoid robot THBIP-Ⅱ is developed,and its system configuration is introduced,including mechanical structure,control system and sensing system.THBIP-Ⅱ has a height of 700 mm,a weight of 18 kg and 24 degrees of freedom.To fulfill its miniaturization,modularized joints and transmission structures with synchronous belt and harmonic reducer are adopted,and a typical distributed control is adopted in its control system.Meanwhile,a 3D simulation platform is established,and a flat locomotion of 15 cm/step,0.075 m/s and a stable penalty kick are achieved successfully based on 3D parametric gait planning of torque optimization.
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