Modeling the THBIP-1 Humanoid Robot Control System

The paper presents a gait planning method and control strategy for THBIP-1 (Tsinghua BipedHumanoid Robot) to realize stable gait. Our research was carried out in three directions: the study ofhuman walking properties by energy analysis, the development of an experimental humanoid robotapparatus, and the study of a natural dynamic gait and balance control scheme. The main goal of creating ahumanoid robot is to replace humans in jobs that are dangerous or repetitive for humans. This robotincludes a head, torso, two arms, two legs, totaling 32 DOFs (degrees of freedom). This project aims torealize stable walking in different environments for an autonomous humanoid robot. First, design issuesincluding the robot's mechanical structure and control architecture are defined. Second, a gait generationmethod based on the optimization of the main support leg is presented, and a control strategy consisting ofa local joint controller and a sensor feedback controller is also described. As a result of the analysis of therobot's walking experiments, it was determined that the robot has the ability to walk stably on the ground,rotate in any direction, and climb up/down the stairs.