Research THBIP2000

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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]
[[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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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 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.
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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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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.
The following video clips show walking experiments of the THBIP-I humanoid robots using onboard batteries from year 2003.
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|align="center"|'''8 seconds per step'''
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|align="center"|'''6 seconds per step'''
|align="center"|'''6 seconds per step'''
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|align="center"|'''Climb stairs'''
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|<videoflash type="youku">XMjExNDgzODYw</videoflash>
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|[[image:T06_030405.gif‎‎|border|center]]
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|<videoflash type="youku">XMjExNDY2MzE2</videoflash>
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|[[image:T20_030820.gif‎‎|border|center]]
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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
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