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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] | ||
| - | [[image:Research_THBIP2000.jpg|border]] | + | [[image:Research_THBIP2000.jpg|border|center]] |
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. | ||
| - | Dr. Xu was involved in mechanism design, gait generation algorithms, kinematics modeling, dynamics and vibration modeling, experimental validation, | + | 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. | ||
| - | {| | + | {|border="1" align="center" cellpadding="10" |
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|align="center"|'''6 seconds per step''' | |align="center"|'''6 seconds per step''' | ||
| + | |align="center"|'''Climb stairs''' | ||
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| - | | | + | |[[image:T06_030405.gif|border|center]] |
| - | | | + | |[[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
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, 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 |
 |  |
