@inproceedings{209ed29b9b1b4674ad008fb7e87b6c08,
title = "Design of an upper-body humanoid robot platform",
abstract = "This paper presents a newly developed upper-body humanoid robot platform. The system has more than 52 degree of freedom (DOF), including two 7-DOF arms, two 15-DOF dexterous hands, a 3-DOF head, a 2-DOF waist and a 3-DOF mobile vehicle. To shorten development period and reduce cost, all the DOFs of the arms and the waist are designed with the modular joints. The two arms and two dexterous hands are identical. A control system with three hierarchical levels (including the teleoperation level, the central level and the joint control level) has been established to realize the control of the robot. Moreover, a high-speed serial communication bus (named as PPSECO) has been developed to complete communication between the controllers in the central level and in the joint level. At last, the box grasping experiment have completed successfully on the robotic platform, and the experimental results show that the robot has good operation performance.",
keywords = "Dexterous hand, Humanoid robot, Modular joint, Position sensor, Torque sensor",
author = "Fenglei Ni and Chuangqiang Guo and Yiwei Liu and Minghe Jin and Hong Liu and Zijian Zhang",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 ; Conference date: 06-08-2017 Through 09-08-2017",
year = "2017",
month = aug,
day = "23",
doi = "10.1109/ICMA.2017.8016105",
language = "英语",
series = "2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1882--1887",
booktitle = "2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017",
address = "美国",
}