Modeling and motion planning of the infant-size humanoid robot THBIP-II

The infant-size humanoid robot THBIP-II, Tsinghua University biped robot II, is the second generation prototype of Tsinghua biped robots. THBIP-II is 75 cm tall, weighs 18 Kg, and has 24 degrees of freedom (DOF). This paper addresses the design, mechanical modeling, gait planning method, and global footstep planning method of the robot. First the humanoid mechatronics system and its kinematics and dynamics modeling are prescribed. Second, the gait planning algorithm developed for human-like walking is presented. Third, a footstep planning method for global navigation is addressed. Finally, the walking experiments are given to verify the validity of the above aspects.