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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.