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[[image:Research_THBIP2000.jpg|border]] | [[image:Research_THBIP2000.jpg|border]] | ||
| - | That was a China’s systematic | + | 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. | 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 in year 2003. | ||
| + | {| | ||
| + | |align="center"|'''8 seconds per step''' | ||
| + | |align="center"|'''6 seconds per step''' | ||
| + | |- | ||
| + | |<videoflash type="youku">XMjExNDgzODYw</videoflash> | ||
| + | |<videoflash type="youku">XMjExNDY2MzE2</videoflash> | ||
| + | |} | ||
Revision as of 07:19, 3 October 2010
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 in year 2003.
| 8 seconds per step | 6 seconds per step |
