文章基本信息

标题：Design and Development of the Humanoid Robot BHR-5:
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作者：Zhangguo Yu ; Qiang Huang ; Gan Ma 等
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2014
卷号：6
页码：1-11
DOI：10.1155/2014/852937
语种：English
出版社：Sage Publications Ltd.
摘要：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.