Control system design of THBIP-I humanoid robot

Describes the progress of the control system design and implementation of the THBIP-I humanoid robot. The robot has 32 degrees of freedom and each joint is driven by a brushless DC electronic motor. Screw/nuts transmission mechanism is adapted in some joints of lower limbs to achieve compact and good dynamic performance. The control system of the robot has four subsystems: remote brain work station, mobile controller, distributed control units and sensor processing unit. At the present state, the lower limbs and upper limbs have been built and tested with off line gait planning. The distributed control units use PID schemes to servo the pre-generated joint trajectories. Under this architecture, the robot can perform stable walking with 30 centimeters step at 20 second per step.

[1]  Atsushi Konno,et al.  Development of a light-weight biped humanoid robot , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[2]  Kazuhito Yokoi,et al.  Balance control of a piped robot combining off-line pattern with real-time modification , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[3]  Jerry E. Pratt,et al.  Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots , 2000 .

[4]  Bernard Espiau,et al.  The anthropomorphic biped robot BIP2000 , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[5]  K. Hirai,et al.  Current and future perspective of Honda humamoid robot , 1997 .

[6]  Guy Bessonnet,et al.  Gait analysis of a human walker wearing robot feet as shoes , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[7]  Jerry E. Pratt,et al.  Stable adaptive control of a bipedal walking; robot with CMAC neural networks , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[8]  Yeng Chai Soh,et al.  Planning and control of a biped robot , 1999 .

[9]  Atsuo Takanishi,et al.  Development of a dynamic biped walking system for humanoid - development of a biped walking robot adapting to the humans' living floor , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[10]  T. Takenaka,et al.  The development of Honda humanoid robot , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[11]  Yuan F. Zheng.  A neural gait synthesizer for autonomous biped robots , 1990, EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications.

[12]  Yuan F. Zheng,et al.  Gait synthesis for a biped robot climbing sloping surfaces using neural networks. II. Dynamic learning , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[13]  Shuuji Kajita,et al.  Dynamic walking control of a biped robot along a potential energy conserving orbit , 1992, IEEE Trans. Robotics Autom..