Design aspects and development of humanoid robot thbip-2

  • Authors:

  • Zeyang Xia;Li Liu;Jing Xiong;Qiang Yi;Ken Chen

  • Affiliations:

  • Robotics and automation laboratory, department of precision instruments and mechanology, tsinghua university, beijing 100084, p. r. china. e-mail: zeyang.xia@ieee.org;Robotics and automation laboratory, department of precision instruments and mechanology, tsinghua university, beijing 100084, p. r. china. e-mail: zeyang.xia@ieee.org;Robotics and automation laboratory, department of precision instruments and mechanology, tsinghua university, beijing 100084, p. r. china. e-mail: zeyang.xia@ieee.org;Robotics and automation laboratory, department of precision instruments and mechanology, tsinghua university, beijing 100084, p. r. china. e-mail: zeyang.xia@ieee.org;Robotics and automation laboratory, department of precision instruments and mechanology, tsinghua university, beijing 100084, p. r. china. e-mail: zeyang.xia@ieee.org

  • Venue:
  • Robotica
  • Year:
  • 2008

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Abstract

This is the first publication presenting the minihumanoid robot THBIP-2, the second-generation biped of Tsinghua University. It is 70 cm in height and 18 kg in weight with 24 degrees of freedom. This paper mainly addresses its mechatronics system realization, including the conceptual design, actuation system, sensing system, and control system. In addition, a walking stability controller based on zero moment point criterion and the walking simulation are presented. Finally, experiments validate and confirm the efficiency of the design.