Research THBIP2000

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Gait design and system integration for the Humanoid Robot Research
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= Gait Generation and System Integration for the THBIP-I Humanoid Robot =
August 2000 to September 2003
August 2000 to September 2003
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[[image:Research_THBIP2000.jpg‎|frame]]
[[image:Research_THBIP2000.jpg‎|frame]]

Revision as of 00:44, 2 October 2010


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

August 2000 to September 2003


Research THBIP2000.jpg

Significance: 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: 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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