Gait Generation and System Integration for the THBIP-I Humanoid Robot
August 2000 to September 2003
This work was done when Dr. Kai Xu was with the Robotics & Automation Lab, Department of Precision Instrument and Mechanology, Tsinghua University
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, formulating real-time gesture compensation, task planning designed, 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.
|8 seconds per step||6 seconds per step|