Development of an upper body humanoid robot

This paper presents hardware and software architecture of a newly developed upper body humanoid robot. This robot is composed of 52 degrees-of-freedom (DOFs). All the DOFs of the head, the arms and the waist have the same electrical system. Besides, more than 14 types of sensors are applied in the robot system. Herein, a control structure, including three levels, such as the tele-operation level, the central level and the joint control level, are established to realize the purpose of controlling the system. To communicate efficiently among different parts of the system, the techniques of the Ethernet has been used and the Point-to-Point Serial Communication (PPSeCo) bus has been developed.