Design and Development of the Humanoid Robot BHR-5. (3rd August 2014)

• Record Type: Journal Article
• Authors: Yu, Zhangguo; Huang, Qiang; Ma, Gan; Chen, Xuechao; Zhang, Weimin; Li, Jing; Gao, Junyao
• Other Names: Tao Yong Academic Editor.
• Is Part Of: Advances in mechanical engineering. Volume 2014(2014)
• Publication Date: 2014-08-03
• Subjects: Mechanical engineering -- Periodicals; 621.05
• DOI: 10.1155/2014/852937
• Languages: English
• ISSNs: 1687-8132

Abstract

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.