小型仿人机器人THBIP-Ⅱ的研制与开发

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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..

摘要为了解决仿人机器人小型化、集成化带来的技术问题，并实现仿人机器人在复杂非结构人类生活环境中的应用，本文研制并开发了新一代小型仿人机器THBIP-Ⅱ，给出了THBIP-II的系统组成，包括机械结构、控制系统和感知系统．THBIP-Ⅱ高700mm，重18kg，共配置24个自由度，采用模块化关节和同步带加谐波减速器的传动结构实现机器人的小型化，其控制系统为典型的分布式控制系统．同时，本文建立了THBIP-Ⅱ三维仿真平台，基于力矩最优的3D参数化步态规划方法，成功实现了步长为15cm、步速为0.075m/s的平地行走和稳定的踢球动作．

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关键词 ：仿人机器人, 模块化, 双足步行, 零力矩点

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.

Key words： humanoid robot modularization biped locomotion ZMP (zero moment point)

收稿日期: 2008-12-12

TP24

基金资助:国家自然科学基金资助项目（50805082，50575119）；国家863计划资助项目（2006AA04Z253）；教育部博士点基金资助项目（20060003026）

作者简介: 伊强（1980- ），男，博士生．研究领域：仿人机器人运动与控制．
陈恳（1954– ），男，教授，博士生导师．研究领域：机器人与仿生学，特种机器人及应用，机电自动化及系统集成．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2009/V31/I6/586

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