Title :
Distributed hierarchical control system of humanoid robot THBIP-1
Author :
Zongying, Shi ; Wenli, Xu ; Xu, Wen ; Peigang, Jiang
Author_Institution :
Dept. of Autom., Tsinghua Univ., Beijing, China
Abstract :
This paper introduces the control system of humanoid robot THBIP-1 being developed cooperatively by three departments of Tsinghua University. The THBIP-1 robot with 32 actuated joints has a head, a torso, two arms, two legs and two feet. To realize autonomous and self-contained characteristics, a new distributed hierarchical configuration of control system is proposed. It has been shown that the distributed hierarchical control scheme is effective.
Keywords :
distributed control; hierarchical systems; legged locomotion; THBIP-1; Tsinghua University; actuated joints; distributed hierarchical configuration; distributed hierarchical control system; humanoid robot; Automatic control; Communication system control; Control systems; Distributed control; Humanoid robots; Humans; Leg; Legged locomotion; Mobile robots; Robotics and automation;
Conference_Titel :
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN :
0-7803-7268-9
DOI :
10.1109/WCICA.2002.1020785
