Planning and control for THBIP-I humanoid robot

被引：0

作者：

Fu, Chenglong ^{[1
]}

Shua, Mei ^{[2
]}

Xu, Kai ^{[1
]}

Zhao, Jiandong ^{[1
]}

Wang, Jiamnei ^{[1
]}

Huang, Yuanlin ^{[1
]}

Chen, Ken ^{[1
]}

机构：

[1] Tsinghua Univ, Dept Precise Instrument & Mechan, Beijing 100084, Peoples R China

[2] Beihang Univ, Dept Mechatron Engn, Beijing 100191, Peoples R China

来源：

IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2006年

基金：

中国国家自然科学基金;

关键词：

gait planning; control strategy; joint controller; sensoryfeedback; humanoid robot;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the gait planning method and control strategy for THBIP-1 (Tsinghua Biped Humanoid Robot) to realize stable walking. This robot includes a head, a trunk, two arms, two legs, and two feet, totally 32 DOF (degree of freedom). This project is involved for five years and aimed to realize stable walking in various environments for a self-contained humanoid robot. Firstly, the design issues including mechanical structure and control architecture of the robot are prescribed. Secondly, gait generation method based on optimization of the main support leg is presented, and control strategy composed of local joint controller and sensory feedback controller is also illustrated. The walking experiments show that the robot has the abilities of stable walking on the ground, turning in any direction, and climbing up/down stairs.

引用

页码：1066 / +

页数：2

共 50 条

[41] Motion planning of humanoid robot for obstacle negotiation
School of Aerospace Science and Engineering, Beijing Institute of Technology, Beijing 100081, China
J Beijing Inst Technol Engl Ed, 2008, 4 (439-444):
[42] Integrated Footstep Planning and CoM Control for Enhanced Stability and Maneuverability in EROS Humanoid Robot
Fatahillah, Teuku Zikri
Nobelia, Bianca Surya
Risnumawan, Anhar
Alasiry, Ali Husein
Pradana, Erlangga Yudi
Wijaya, Candra Kusuma
2024 INTERNATIONAL ELECTRONICS SYMPOSIUM, IES 2024, 2024, : 291 - 296
[43] Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
Scott Kuindersma
Robin Deits
Maurice Fallon
Andrés Valenzuela
Hongkai Dai
Frank Permenter
Twan Koolen
Pat Marion
Russ Tedrake
Autonomous Robots, 2016, 40 : 429 - 455
[44] A real-time planning and control strategy of humanoid robot walking on irregular terrain
Sheng, Tao
Wang, Jian
Ma, Hongxu
Qin, Haili
WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS, 2006, : 70 - 70
[45] Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
Kuindersma, Scott
Deits, Robin
Fallon, Maurice
Valenzuela, Andres
Dai, Hongkai
Permenter, Frank
Koolen, Twan
Marion, Pat
Tedrake, Russ
AUTONOMOUS ROBOTS, 2016, 40 (03) : 429 - 455
[46] PID Control for a Collaborative Humanoid Robot
Ntsinyi, Teboho
Markus, Elisha Didam
Masheane, Lebohang
2021 RAPID PRODUCT DEVELOPMENT ASSOCIATION OF SOUTH AFRICA - ROBOTICS AND MECHATRONICS - PATTERN RECOGNITION ASSOCATION OF SOUTH AFRICA (RAPDASA-ROBMECH-PRASA), 2022,
[47] The eMOSAIC model for humanoid robot control
Sugimoto, Norikazu
Morimoto, Jun
Hyon, Sang-Ho
Kawato, Mitsuo
NEURAL NETWORKS, 2012, 29-30 : 8 - 19
[48] Control program structure of humanoid robot
Aramaki, S
Shirouzu, H
Kurashige, K
Kinoshita, T
IECON-2002: PROCEEDINGS OF THE 2002 28TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4, 2002, : 1796 - 1800
[49] eMOSAIC model for humanoid robot control
Sugimoto, Norikazu
Morimoto, Jun
Hyon, Sang-Ho
Kawato, Mitsuo
NEUROSCIENCE RESEARCH, 2010, 68 : E329 - E330
[50] eMOSAIC Model for Humanoid Robot Control
Sugimoto, Norikazu
Morimoto, Jun
Hyon, Sang-Ho
Kawato, Mitsuo
FROM ANIMALS TO ANIMATS 11, 2010, 6226 : 447 - +

← 1 2 3 4 5 →