Research THBIP2000

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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
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