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Planning and Control for THBIP-I Humanoid Robot

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7 Author(s)
Chenglong Fu ; Dept. of Precise Inst. & Mechanology, Tsinghua Univ. ; Mei Shuai ; Kai Xu ; Jiandong Zhao
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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

Published in:

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Date of Conference:

25-28 June 2006

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