THE RESEARCH ON THE BIPED HUMANOID ROBOT THBIP-I

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.