Development of Small Humanoid Robot BJHR-I

摘要

This paper addresses the design of a small humanoid robot BJHR-I with 19 degrees of freedom, including the allocation of degrees of freedom, prototype structure design, Adams and Solidworks modeling and simulation based on virtual prototyping technology, gait planning, the ARM11 + Single Chip system based on the hierarchical control system, finally, to achieve the walking experiment with the height of step 20mm, the distance of one step 85mm, and the walking period 12s through the physical prototype, and to prove that this design is stable and reliable, as well as to provide a basis for the following research projects related to the platform.