Planning and Control for THBIP-I Humanoid Robot

This paper presents the gait planning method and control strategy for THBIP-I (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 rea...

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Bibliographic Details
Main Authors: Chenglong Fu, Mei Shuai, Kai Xu, Jiandong Zhao, Jianmei Wang, Yuanlin Huang, Ken Chen
Format: Conference Proceeding
Language:English
Subjects:
control strategy
gait planning
humanoid robot
Humanoid robots
Humans
joint controller
Leg
Legged locomotion
Mechatronics
Robot sensing systems
Robotics and automation
sensory feedback
Service robots
Strategic planning
Turning
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Summary:This paper presents the gait planning method and control strategy for THBIP-I (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
ISSN:2152-7431
2152-744X
DOI:10.1109/ICMA.2006.257773