Design and Development of the Humanoid Robot BHR-5

Zhangguo Yu; Qiang Huang; Gan Ma; Xuechao Chen; Weimin Zhang; Jing Li; Junyao Gao

doi:10.1155/2014/852937

Design and Development of the Humanoid Robot BHR-5

Zhangguo Yu^*, Qiang Huang, Gan Ma, Xuechao Chen, Weimin Zhang, Jing Li, Junyao Gao

^*Corresponding author for this work

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

47 Citations (Scopus)

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.

Original language	English
Article number	852937
Journal	Advances in Mechanical Engineering
Volume	2014
DOIs	https://doi.org/10.1155/2014/852937
Publication status	Published - 2014

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AU - Ma, Gan

AU - Chen, Xuechao

AU - Zhang, Weimin

AU - Li, Jing

AU - Gao, Junyao

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AB - 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.

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Design and Development of the Humanoid Robot BHR-5

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