Development of an upper body humanoid robot

Yangyang Dong; Zijian Zhang; Hong Hu

doi:10.1109/ARSO.2014.7020995

Development of an upper body humanoid robot

Yangyang Dong
, Zijian Zhang^*
, Hong Hu

^*Corresponding author for this work

School of Robotics and Advanced Manufacture

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This paper presents hardware and software architecture of a newly developed upper body humanoid robot. This robot is composed of 52 degrees-of-freedom (DOFs). All the DOFs of the head, the arms and the waist have the same electrical system. Besides, more than 14 types of sensors are applied in the robot system. Herein, a control structure, including three levels, such as the tele-operation level, the central level and the joint control level, are established to realize the purpose of controlling the system. To communicate efficiently among different parts of the system, the techniques of the Ethernet has been used and the Point-to-Point Serial Communication (PPSeCo) bus has been developed.

Original language	English
Title of host publication	ARSO 2014 - Workshop Digest, IEEE International Workshop on Advance Robotics and its Social Impacts
Editors	Henny Admoni, Tamim Asfour, Cindy Bethel, David Bourne, Anca Dragan, David Feil-Seifer, Birgit Graf, Jeonghye Han, Nathan Kirchner, Masashi Konyo, Shinya Kotosaka, Sonya Kwak, Changchun Liu, Bruce MacDonald, Selma Sabanovic, Pericle Salvini, Sebastian Scherer, Masahiro Shiomi, Giancarlo Teti, Stephen Tully, Bram Vanderborght, Kazuyoshi Wada, Britta Wrede, Fumin Zhang
Publisher	IEEE Computer Society
Pages	143-148
Number of pages	6
Edition	January
ISBN (Electronic)	9781479969685
DOIs	https://doi.org/10.1109/ARSO.2014.7020995
State	Published - 23 Jan 2015
Event	9th IEEE International Workshop on Advance Robotics and its Social Impacts, ARSO 2014 - Evanston, United States Duration: 11 Sep 2014 → 13 Sep 2014

Publication series

Name	Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
Number	January
Volume	2015-January
ISSN (Print)	2162-7568
ISSN (Electronic)	2162-7576

Conference

Conference	9th IEEE International Workshop on Advance Robotics and its Social Impacts, ARSO 2014
Country/Territory	United States
City	Evanston
Period	11/09/14 → 13/09/14

Access to Document

10.1109/ARSO.2014.7020995

Cite this

Dong, Y., Zhang, Z., & Hu, H. (2015). Development of an upper body humanoid robot. In H. Admoni, T. Asfour, C. Bethel, D. Bourne, A. Dragan, D. Feil-Seifer, B. Graf, J. Han, N. Kirchner, M. Konyo, S. Kotosaka, S. Kwak, C. Liu, B. MacDonald, S. Sabanovic, P. Salvini, S. Scherer, M. Shiomi, G. Teti, S. Tully, B. Vanderborght, K. Wada, B. Wrede, ... F. Zhang (Eds.), ARSO 2014 - Workshop Digest, IEEE International Workshop on Advance Robotics and its Social Impacts (January ed., pp. 143-148). Article 7020995 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2015-January, No. January). IEEE Computer Society. https://doi.org/10.1109/ARSO.2014.7020995

Dong, Yangyang ; Zhang, Zijian ; Hu, Hong. / Development of an upper body humanoid robot. ARSO 2014 - Workshop Digest, IEEE International Workshop on Advance Robotics and its Social Impacts. editor / Henny Admoni ; Tamim Asfour ; Cindy Bethel ; David Bourne ; Anca Dragan ; David Feil-Seifer ; Birgit Graf ; Jeonghye Han ; Nathan Kirchner ; Masashi Konyo ; Shinya Kotosaka ; Sonya Kwak ; Changchun Liu ; Bruce MacDonald ; Selma Sabanovic ; Pericle Salvini ; Sebastian Scherer ; Masahiro Shiomi ; Giancarlo Teti ; Stephen Tully ; Bram Vanderborght ; Kazuyoshi Wada ; Britta Wrede ; Fumin Zhang. January. ed. IEEE Computer Society, 2015. pp. 143-148 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; January).

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abstract = "This paper presents hardware and software architecture of a newly developed upper body humanoid robot. This robot is composed of 52 degrees-of-freedom (DOFs). All the DOFs of the head, the arms and the waist have the same electrical system. Besides, more than 14 types of sensors are applied in the robot system. Herein, a control structure, including three levels, such as the tele-operation level, the central level and the joint control level, are established to realize the purpose of controlling the system. To communicate efficiently among different parts of the system, the techniques of the Ethernet has been used and the Point-to-Point Serial Communication (PPSeCo) bus has been developed.",

author = "Yangyang Dong and Zijian Zhang and Hong Hu",

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Dong, Y, Zhang, Z & Hu, H 2015, Development of an upper body humanoid robot. in H Admoni, T Asfour, C Bethel, D Bourne, A Dragan, D Feil-Seifer, B Graf, J Han, N Kirchner, M Konyo, S Kotosaka, S Kwak, C Liu, B MacDonald, S Sabanovic, P Salvini, S Scherer, M Shiomi, G Teti, S Tully, B Vanderborght, K Wada, B Wrede & F Zhang (eds), ARSO 2014 - Workshop Digest, IEEE International Workshop on Advance Robotics and its Social Impacts. January edn, 7020995, Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, no. January, vol. 2015-January, IEEE Computer Society, pp. 143-148, 9th IEEE International Workshop on Advance Robotics and its Social Impacts, ARSO 2014, Evanston, United States, 11/09/14. https://doi.org/10.1109/ARSO.2014.7020995

Development of an upper body humanoid robot. / Dong, Yangyang; Zhang, Zijian; Hu, Hong.
ARSO 2014 - Workshop Digest, IEEE International Workshop on Advance Robotics and its Social Impacts. ed. / Henny Admoni; Tamim Asfour; Cindy Bethel; David Bourne; Anca Dragan; David Feil-Seifer; Birgit Graf; Jeonghye Han; Nathan Kirchner; Masashi Konyo; Shinya Kotosaka; Sonya Kwak; Changchun Liu; Bruce MacDonald; Selma Sabanovic; Pericle Salvini; Sebastian Scherer; Masahiro Shiomi; Giancarlo Teti; Stephen Tully; Bram Vanderborght; Kazuyoshi Wada; Britta Wrede; Fumin Zhang. January. ed. IEEE Computer Society, 2015. p. 143-148 7020995 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2015-January, No. January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Development of an upper body humanoid robot

AU - Dong, Yangyang

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AU - Hu, Hong

PY - 2015/1/23

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N2 - This paper presents hardware and software architecture of a newly developed upper body humanoid robot. This robot is composed of 52 degrees-of-freedom (DOFs). All the DOFs of the head, the arms and the waist have the same electrical system. Besides, more than 14 types of sensors are applied in the robot system. Herein, a control structure, including three levels, such as the tele-operation level, the central level and the joint control level, are established to realize the purpose of controlling the system. To communicate efficiently among different parts of the system, the techniques of the Ethernet has been used and the Point-to-Point Serial Communication (PPSeCo) bus has been developed.

AB - This paper presents hardware and software architecture of a newly developed upper body humanoid robot. This robot is composed of 52 degrees-of-freedom (DOFs). All the DOFs of the head, the arms and the waist have the same electrical system. Besides, more than 14 types of sensors are applied in the robot system. Herein, a control structure, including three levels, such as the tele-operation level, the central level and the joint control level, are established to realize the purpose of controlling the system. To communicate efficiently among different parts of the system, the techniques of the Ethernet has been used and the Point-to-Point Serial Communication (PPSeCo) bus has been developed.

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BT - ARSO 2014 - Workshop Digest, IEEE International Workshop on Advance Robotics and its Social Impacts

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A2 - Asfour, Tamim

A2 - Bethel, Cindy

A2 - Bourne, David

A2 - Dragan, Anca

A2 - Feil-Seifer, David

A2 - Graf, Birgit

A2 - Han, Jeonghye

A2 - Kirchner, Nathan

A2 - Konyo, Masashi

A2 - Kotosaka, Shinya

A2 - Kwak, Sonya

A2 - Liu, Changchun

A2 - MacDonald, Bruce

A2 - Sabanovic, Selma

A2 - Salvini, Pericle

A2 - Scherer, Sebastian

A2 - Shiomi, Masahiro

A2 - Teti, Giancarlo

A2 - Tully, Stephen

A2 - Vanderborght, Bram

A2 - Wada, Kazuyoshi

A2 - Wrede, Britta

A2 - Zhang, Fumin

PB - IEEE Computer Society

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Dong Y, Zhang Z, Hu H. Development of an upper body humanoid robot. In Admoni H, Asfour T, Bethel C, Bourne D, Dragan A, Feil-Seifer D, Graf B, Han J, Kirchner N, Konyo M, Kotosaka S, Kwak S, Liu C, MacDonald B, Sabanovic S, Salvini P, Scherer S, Shiomi M, Teti G, Tully S, Vanderborght B, Wada K, Wrede B, Zhang F, editors, ARSO 2014 - Workshop Digest, IEEE International Workshop on Advance Robotics and its Social Impacts. January ed. IEEE Computer Society. 2015. p. 143-148. 7020995. (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; January). doi: 10.1109/ARSO.2014.7020995

Development of an upper body humanoid robot

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