Control system design of THBIP-I humanoid robot

摘要

Describes the progress of the control system design and implementation of the THBIP-I humanoid robot. The robot has 32 degrees of freedom and each joint is driven by a brushless DC electronic motor. Screw/nuts transmission mechanism is adapted in some joints of lower limbs to achieve compact and good dynamic performance. The control system of the robot has four subsystems: remote brain work station, mobile controller, distributed control units and sensor processing unit. At the present state, the lower limbs and upper limbs have been built and tested with off line gait planning. The distributed control units use PID schemes to servo the pre-generated joint trajectories. Under this architecture, the robot can perform stable walking with 30 centimeters step at 20 second per step.