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Design aspects and development of humanoid robot THBIP-2

Published online by Cambridge University Press:  01 January 2008

Zeyang Xia ,
Li Liu ,
Jing Xiong ,
Qiang Yi  and
Ken Chen
Zeyang Xia
Affiliation:
Robotics and Automation Laboratory, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, P. R. China. E-mail: zeyang.xia@ieee.org
Li Liu
Affiliation:
Robotics and Automation Laboratory, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, P. R. China. E-mail: zeyang.xia@ieee.org
Jing Xiong
Affiliation:
Robotics and Automation Laboratory, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, P. R. China. E-mail: zeyang.xia@ieee.org
Qiang Yi
Affiliation:
Robotics and Automation Laboratory, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, P. R. China. E-mail: zeyang.xia@ieee.org
Ken Chen*
Affiliation:
Robotics and Automation Laboratory, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, P. R. China. E-mail: zeyang.xia@ieee.org
*
*Corresponding author. E-mail: kenchen@tsinghua.edu.cn
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Summary

This is the first publication presenting the minihumanoid robot THBIP-2, the second-generation biped of Tsinghua University. It is 70 cm in height and 18 kg in weight with 24 degrees of freedom. This paper mainly addresses its mechatronics system realization, including the conceptual design, actuation system, sensing system, and control system. In addition, a walking stability controller based on zero moment point criterion and the walking simulation are presented. Finally, experiments validate and confirm the efficiency of the design.

Keywords

Biped walkingConceptual designSensing and actuationZero moment pointGait Planning
Type
Article
Information
Robotica , Volume 26 , Issue 1 , January 2008 , pp. 109 - 116
Copyright
Copyright © Cambridge University Press 2007

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