Hostname: page-component-78c5997874-m6dg7 Total loading time: 0 Render date: 2024-11-10T20:53:38.380Z Has data issue: false hasContentIssue false
  • English
  • Français

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
Get access Rights & Permissions [Opens in a new window]

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

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Kato, I., “Development of Wabot-1,” In: Biomechanism 2 (The University of Tokyo Press, Tokyo, Japan, 1973) pp. 173–214.Google Scholar
2.Brooks, R. A. et al. , “The Cog Project: Building a Humanoid Robot, Computation for Metaphors, Analogy and Agents” In: Springer Lecture Notes in Artificial Intelligence (Nehaniv, C., ed.), vol. 1562 (Springer-Verlag, Berlin, Germany, 1998).Google Scholar
3.Caldwell, D. G., Tsagarakis, N., Badihi, D. and Medrano-Cerda, G. A., “Pneumatic Muscle Actuator Technology: A Lightweight Power System for a Humanoid Robot”, Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium (1998) pp. 3035–3058.Google Scholar
4.Hirai, K., Hirose, M., Haikawa, Y. and Takenaka, T., “The Development of Honda Humanoid Robot,” Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium (May 16–20, 1998) pp. 1321–1326.Google Scholar
5.Ishida, T., Kuroki, Y. and Yamaguchi, J., “Mechanical System of a Small Biped Entertainment Robot,” Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robot and Systems Las Vegas Nevada (Oct., 2003) pp. 1129–1134.Google Scholar
6.Liu, L., Wang, J. S., Chen, K., Yang, D. C. and Zhao, J. D., “The Research On The Biped Humanoid Robot THBIP-1” Robot 24 (3) (2002) pp. 262–267.Google Scholar
7.Fred, R., Sias, J. and Zheng, Y. F., “How Many Degrees-of-freedom Does a Biped Need,” Proceedings of the IEEE International Workshop on Intelligent Robtots and System (1990) pp. 297–302.Google Scholar
8.Kajita, S., Hirukawa, H., Yokoi, K. et al. , Humanoid robots (Ohmsha, Tokyo, Japan, 2005).Google Scholar
9.Hass, J., Herrmann, J. M. and Geisel, T., “Optimal Mass Distribution for Passivity-Based Bipedal Robots,” Int. J. Robot. Res. 25, 1087–1098 (2006).CrossRefGoogle Scholar
10.Zatsiorsky, V. and Seluyanov, V., “The mass and inertia characteristics of the main segments of the human body,” Biomechanics 8B, 1152–1159 (1983).Google Scholar
11.Chinese National Standard GB1000-88, Human Body Data of Chinese Adults, 1988.Google Scholar
12.Vukobratovic, M., Borova, B. and Surdilovic, D., “Zero-Moment Point—Proper Interpretation and New Aplication,” Proceedings of the IEEE-RAS International Conference on Humanoid Robots (2001) pp. 237–244.Google Scholar
13.Huang, Q., Yokoi, K. and Kajita, S., “Planning walking patterns for a biped robot,” IEEE Trans. Robot. Autom. 17, 280–289 (2001).CrossRefGoogle Scholar
14.Daerden, F. and Lefeber, D., “Pneumatic artificial muscles: Actuators for robotics and automation,” Eur. J. Mech. Environ. Eng. 47 (1), 10C21 (2002).Google Scholar
15.Li, Q., Tkanishi, A. and Kato, I., “Development of ZMP measurement system for biped walking robot using universal force-moment sensors,” J. Robot. Soc. Jpn. 10 (6), 828–833 (1992).CrossRefGoogle Scholar
16.Inman, V. T., Ralston, H. J. and Todd, F., Human Walking, Willams and Wilkins, Baltimore, MD (1981).Google Scholar
17.Xia, Z. Y., Chen, K. and Liu, L., “Experimental analysis on humanlocomotion for natural gait planning of humanoid robots,” Robot 29 (5), 457–462 (in press).Google Scholar