Design and Development of the Humanoid Robot BHR-5-Reference-Cited by-同舟云学术

Design and Development of the Humanoid Robot BHR-5

Published:2014-01-01 Issue: Volume:6 Page:852937
ISSN:1687-8140
Container-title:Advances in Mechanical Engineering
language:en
Short-container-title:Advances in Mechanical Engineering

Author:

Yu Zhangguo¹²,Huang Qiang¹²³,Ma Gan¹,Chen Xuechao¹²,Zhang Weimin¹²,Li Jing¹,Gao Junyao¹²

Affiliation:

1. Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China

2. Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing 100081, China

3. Key Laboratory of Intelligent Control and Decision of Complex System, Beijing 100081, China

Abstract

This paper presents the mechanical and control system design of the latest humanoid robot platform, BHR-5, from Beijing Institute of Technology. The robot was developed as a comprehensive platform to investigate the planning and control for the fast responsive motion under unforeseen circumstances, for example, playing table-tennis. It has improvement on mechanical structure, stiffness, and reliability. An open control architecture based on concurrent multichannel communication mode of CAN bus is proposed to upgrade the real-time communication performance and the expansibility of the control system. Experiments on walking and playing table-tennis validate the effectiveness of the design.

Funder

National Natural Science Foundation of China

Publisher

SAGE Publications

Subject

Mechanical Engineering

Link

http://journals.sagepub.com/doi/pdf/10.1155/2014/852937

Reference14 articles.

1. Mechanical design of the humanoid robot platform, HUBO

2. Sensors and Control Concept of a Biped Robot

3. Design aspects and development of humanoid robot THBIP-2