Research THBIP2000

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August 2000 to September 2003
August 2000 to September 2003
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[[image:note_bulb.png|text-bottom|12px]] This work was done when Dr. Kai Xu was with [http://ime.pim.tsinghua.edu.cn/research/research33.html the Robotics & Automation Lab, Department of Precision Instrument and Mechanology, Tsinghua University]
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Significance:
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That was a China’s systematic effect developping humanoid technology. The THBIP-I robot had 27 independent DOF with a real-time distributed hierarchical control structure coordinating with the servo control, gait generation, gesture sensing, vision tracking and task planning subsystems. It was able to conduct autonomous walking using its on-board battery and manipulate small objects.
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That was China’s first systematic effect catching up with Japan’s humanoid technology. The THBIP-I robot had 27 independent DOF. It had a real-time distributed hierarchical control structure coordinating with the servo control, gait generation, gesture sensing, vision tracking and task planning subsystems and was able to conduct autonomous walking using its on-board battery and manipulate small objects.
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My contribution:
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Dr. Xu was involved in mechanism design, gait generation algorithms, kinematics modeling, dynamics and vibration modeling, experimental validation, formulating real-time gesture compensation, task planning designed, etc. He also served as a coordinator, organzing meetings, experiments, progress documentation, etc.
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I was assigned to mechanism designs when I joined the project as a senior undergraduate student. I was promoted to the project manager at the end of this 3-year project, coordinating nine graduate students, two postdoctoral fellows and four professors from three departments in Tsinghua University. I developed gait generation algorithms, derived kinematics and dynamics of the system, led experiments and meetings, formulated real-time gesture compensation, interfaced with vision tracking and task planning designed by other two departments, and compiled the final report.
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Revision as of 01:32, 2 October 2010


Gait Generation and System Integration for the THBIP-I Humanoid Robot

August 2000 to September 2003

Note bulb.png This work was done when Dr. Kai Xu was with the Robotics & Automation Lab, Department of Precision Instrument and Mechanology, Tsinghua University

Research THBIP2000.jpg

That was a China’s systematic effect developping humanoid technology. The THBIP-I robot had 27 independent DOF with a real-time distributed hierarchical control structure coordinating with the servo control, gait generation, gesture sensing, vision tracking and task planning subsystems. It was able to conduct autonomous walking using its on-board battery and manipulate small objects.

Dr. Xu was involved in mechanism design, gait generation algorithms, kinematics modeling, dynamics and vibration modeling, experimental validation, formulating real-time gesture compensation, task planning designed, etc. He also served as a coordinator, organzing meetings, experiments, progress documentation, etc.

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