Development of HIT Humanoid Robot

被引：5

作者：

Cao, Baoshi ^{[1
]}

Gu, Yikun ^{[1
]}

Sun, Kui ^{[1
]}

Jin, Minghe ^{[1
]}

Liu, Hong ^{[1
]}

机构：

[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2017, PT II | 2017年 / 10463卷

基金：

中国国家自然科学基金;

关键词：

HIT humanoid robot; Dual-arm system; Dexterous hand; Robotic; ROBONAUT;

D O I：

10.1007/978-3-319-65292-4_25

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper gives an overview on HIT humanoid robot, which is developed as a research platform for replicating human in special environments. The system has two upper extremities, each upper extremity includes a 7-DOF humanoid arm and a 15-DOF dexterous hand as end-effector. Two humanoid arms and dexterous hand are combined with a 2-DOF dynamic torso and a 3-DOF binocular head to form the humanoid upper body. A wheeled mobile robot is employed to provide mobility. In this paper, we describe the design specification and give an overview on mechanical design of each subsystem. Additionally, we give a short introduction to the hardware architecture and software of HIT humanoid robot.

引用

页码：286 / 297

页数：12

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