Research THBIP2000

From Rii

(Difference between revisions)
Jump to: navigation, search
m
 
(8 intermediate revisions not shown)
Line 4: Line 4:
August 2000 to September 2003
August 2000 to September 2003
 +
[[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]
-
[[image:Research_THBIP2000.jpg‎|frame]]
+
[[image:Research_THBIP2000.jpg‎|border|center]]
-
Significance:
+
That was a China’s systematic effort developping humanoid technology. The THBIP-I robot had 27 independent DoFs 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.
-
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.
+
-
My contribution:
+
Dr. Xu was involved in mechanism design, gait generation algorithms, kinematics modeling, dynamics and vibration modeling, experimental validation, real-time gesture compensation, task planning, etc. He also served as a coordinator, organzing meetings, experiments, progress documentation, etc.
-
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.
+
 
 +
The following video clips show walking experiments of the THBIP-I humanoid robots using onboard batteries from year 2003.
 +
{|border="1" align="center" cellpadding="10"
 +
|align="center"|'''6 seconds per step'''
 +
|align="center"|'''Climb stairs'''
 +
|-
 +
|[[image:T06_030405.gif‎‎|border|center]]
 +
|[[image:T20_030820.gif‎‎|border|center]]
 +
|}

Latest revision as of 16:03, 2 October 2014


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 effort developping humanoid technology. The THBIP-I robot had 27 independent DoFs 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, real-time gesture compensation, task planning, etc. He also served as a coordinator, organzing meetings, experiments, progress documentation, etc.

The following video clips show walking experiments of the THBIP-I humanoid robots using onboard batteries from year 2003.

6 seconds per step Climb stairs
T06 030405.gif
T20 030820.gif
Retrieved from "http://rii.sjtu.edu.cn/index.php?title=Research_THBIP2000"
Views
Personal tools