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This paper introduces the control system of humanoid robot THBIP-1 being developed cooperatively by three departments of Tsinghua University. The THBIP-1 robot with 32 actuated joints has a head, a torso, two arms, two legs and two feet. To realize autonomous and self-contained characteristics, a new distributed hierarchical configuration of control system is proposed. It has been shown that the distributed hierarchical control scheme is effective.
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on (Volume:2 )
Date of Conference: 2002