摘要:
清华大学THBIP-I拟人机器人研究项目，由精密仪器系、机械工程系和自动化系组成研究小组进行系统研究，其研究目的是发展先进机器人理论和技术，开发自主式拟人机器人样机．THBIP-I机器人是具有头、手臂、躯干、腿和脚的拟人机器人，共32个自由度，并具有视觉及语音识别等智能功能．结构设计方面，由直流无刷电机、滚珠丝杠、曲柄连杆机构、谐波减速器组成，各驱动关节轴独立运动．控制系统分三层：组织层、协调层、执行层，分别完成任务规划、关节协调运动控制、关节伺服控制等任务．传感系统由关节位置检测、地面反力检测、姿态检测、视觉系统、语音识别系统组成．电源系统采用机载电池系统供电．本文将介绍THBIP-I机器人研究进展．
关键词:
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拟人机器人
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两足
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自由度
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分布式控制
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传感
Abstract:
This paper describes the progress of the THBIP-I biped humanoid robot. Because the project covers mechanical design, control studies, sensor system and computer architecture integration, three departments of Tsinghua University are involved from last year. It is aimed at the implementation of biped humanoid robot. The THBIP-I robot includes a head, two arms, a trunk, two legs and two feet, totally 32 DOFs. Vision system and voice identification system is located in the head, in view of improving human-robot interactions.-The joint frame consists of DC brushless motor, screw-nuts, cranks and harmonious transmitters. Every joint can move separately. Control system consists of three layers, those are organizing control layer, correspond control layer and servo control layer, to realize task planning, joint coordination control and joints servo control. Sensor system is equipped with joint potentiometer, 6-axis force sensor, 3-axis gyro and 3-axis accelerometer, two cameras and voice identification system. Rechargeable battery inside the robot is used as power supply.
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