Design and Dynamic Walking Control of Humanoid Robot Blackmann

Author

Wang, Jian ; Sheng, Tao ; Ma, Hongxu ; Qin, Haili

Author_Institution

Dept. of Autom., National Univ. of Defense Technol., Changsha

Volume

2

fYear

0

fDate

0-0 0

Firstpage

8848

Lastpage

8852

Abstract

This paper presents the basic configuration and control method of the humanoid robot Blackmann, which is developed by the Robot Laboratory in the National University of Defense Technology, China. Blackmann is 1.55 meters tall and 63.5 Kg weight with 36 DOFs, and it was designed to be humanlike including two legs, two arms, a trunk and a head. This paper covers the mechanical design, hardware description and motion control schemes of Blackmann, and a kind of dynamical walking control scheme based on FRI point was proposed. Up to now, Blackmann has been built and tested; the embedded control system has been realized and assembled in the body of Blackmann; the basic control schemes based on FRI point and anthropomorphic walking has been realized and further study is in process

Keywords

control system synthesis; humanoid robots; legged locomotion; motion control; position control; robot dynamics; 1.55 m; Blackmann; FRI point; anthropomorphic walking; control design; control system structure; dynamic walking control; embedded control system; hardware description; humanoid robot; mechanical design; motion control; posture control; Arm; Control systems; Hardware; Humanoid robots; Laboratories; Leg; Legged locomotion; Motion control; Robot control; System testing; FRI point; Humanoid robot; control system structure; mechanical design; posture control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1713710

Filename

1713710