Design and Development of the Humanoid Robot BHR-5
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,...
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2014-08-01
|
| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1155/2014/852937 |
| _version_ | 1817976578079981568 |
|---|---|
| author | Zhangguo Yu Qiang Huang Gan Ma Xuechao Chen Weimin Zhang Jing Li Junyao Gao |
| author_facet | Zhangguo Yu Qiang Huang Gan Ma Xuechao Chen Weimin Zhang Jing Li Junyao Gao |
| author_sort | Zhangguo Yu |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-13T22:05:21Z |
| format | Article |
| id | doaj.art-975efba1707c40a9abcce786c71b5c88 |
| institution | Directory Open Access Journal |
| issn | 1687-8132 |
| language | English |
| last_indexed | 2024-04-13T22:05:21Z |
| publishDate | 2014-08-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj.art-975efba1707c40a9abcce786c71b5c882022-12-22T02:27:58ZengSAGE PublishingAdvances in Mechanical Engineering1687-81322014-08-01610.1155/2014/85293710.1155_2014/852937Design and Development of the Humanoid Robot BHR-5Zhangguo Yu0Qiang Huang1Gan Ma2Xuechao Chen3Weimin Zhang4Jing Li5Junyao Gao6 Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing 100081, China Key Laboratory of Intelligent Control and Decision of Complex System, Beijing 100081, China Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing 100081, China Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing 100081, China Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing 100081, ChinaThis 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.https://doi.org/10.1155/2014/852937 |
| spellingShingle | Zhangguo Yu Qiang Huang Gan Ma Xuechao Chen Weimin Zhang Jing Li Junyao Gao Design and Development of the Humanoid Robot BHR-5 Advances in Mechanical Engineering |
| title | Design and Development of the Humanoid Robot BHR-5 |
| title_full | Design and Development of the Humanoid Robot BHR-5 |
| title_fullStr | Design and Development of the Humanoid Robot BHR-5 |
| title_full_unstemmed | Design and Development of the Humanoid Robot BHR-5 |
| title_short | Design and Development of the Humanoid Robot BHR-5 |
| title_sort | design and development of the humanoid robot bhr 5 |
| url | https://doi.org/10.1155/2014/852937 |
| work_keys_str_mv | AT zhangguoyu designanddevelopmentofthehumanoidrobotbhr5 AT qianghuang designanddevelopmentofthehumanoidrobotbhr5 AT ganma designanddevelopmentofthehumanoidrobotbhr5 AT xuechaochen designanddevelopmentofthehumanoidrobotbhr5 AT weiminzhang designanddevelopmentofthehumanoidrobotbhr5 AT jingli designanddevelopmentofthehumanoidrobotbhr5 AT junyaogao designanddevelopmentofthehumanoidrobotbhr5 |