Design and Development of the Humanoid Robot BHR-5

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.

Design and Experiments on a New Humanoid Robot: TIDOM

“…2) is quite different from other humanoid robots [3,7] which are usually designed with a serial chain from the ankle to the hip, formed by 3 rotational joints whose axis are parallel one to the other. On TIDOM, a rotational joint was built on the knee to allow the rotation of the thigh on its axis.…”

Anti-Slip Gait Planning for a Humanoid Robot in Fast Walking

“…Therefore, humanoid robots are expected to have broad applications in rescue and relief, public service and family service, etc. Since the release of P2 by Honda in the late 1990s, research on humanoid robots has been a major area of interest, and significant progress has been made in mechanical structures, electrical systems, and control algorithms [4][5][6][7]. However, there have been many weaknesses and problems in humanoid robots so far, e.g., low walking speed, tipping over easily, and an inability to perform other tasks while walking.…”

Mechanical and electrical design of a biped humanoid which has multiple motors on each lower body joint

“…A fully actuated biped walking robot, in contrast to a passive walking robot [1], uses active actuators in all the joints of the lower body [2][3][4][5][6]. The Wabian-2 (41 degrees of freedom (DoF), size 1.53 m, mass 64.5 kg) was developed at Waseda University [3].…”

“…CAN communication is used for controlling the robot [5]. Beijing Institute of Technology developed a humanoid robot, named BHR-5 [6], which is an upgraded version of BHR-3. Samsung Advanced Institute of Technology developed human size humanoids named Mahru III [7] and Roboray [8].…”

“…The result of system integration design is presented in Sect. 6. In comparison with [15,16], which basically studied automatic gait generation, a stable walking trajectory and a feedback control algorithm are explained in Sect.…”