BHR(Humanoid robot)
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BHR is an acronym for Beijing Institute of Technology Humanoid Robots. BHR humanoid robots have been developed by the team led by Prof. Qiang Huang of Intelligent Robotics Institute, Beijing Institute of Technology, China. The first generation of robots called BHR-1 was born in 2002. Since then, there have been six generations of robots. The BHR series robots are aimed at the complex motion control. They can achieve independent and fast walking without external cables. The BHR-6 can walk at a speed of 3km/h.
Development history[edit]
- In December 2002, the first generation of humanoid robot(BHR-1) came out, which is supported by the national 863 plan of the tenth five-years plan of the Ministry of Science and Technology and the National Defense Department. It focuses on the system integration technology of humanoid robots and develops an independent humanoid robot with no external cable.
- In 2005, the second generation of humanoid robot(BHR-2) was launched under the key support of the advanced manufacturing field of the national 863 plan of the “Tenth Five-Years” plan of the Ministry of Science and Technology. BHR-2 can walk stably and achieve the complex motion planning and realize the traditional martial arts performances such as taijiquan and broadsword match.
- In 2009, the third generation of humanoid robot(BHR-3) came out. The third generation multi-model humanoid robots was launched and oriented to science education. The project focused on system engineering design and reliability research. It was exhibited at the China Science and Technology Museum and the Guangdong Science Center successively.
- In 2010, with the key support of the advanced manufacturing field of the national 863 plan of the “Tenth Five-Years” plan of the Ministry of Science and Technology, the fourth generation of humanoid robot (BHR-4) with height 1.7 meters, weight 65 kg, 46 degrees of freedom came out. BHR-4 achieves human expression simulation and mobile work planning.
- In 2011, the fifth generation of humanoid robot(BHR-5) came out. It achieved the key technology of smart motion control based on high-speed visual servoing and coordinated whole body autonomic reaction. The fifth generation of humanoid robot can play ping-pong more than 200 rounds, reflecting the height perception and motion control capabilities of the humanoid robot.
- In 2017, the sixth generation of humanoid robot(BHR-6) was launched. The BHR- 6 robot prototype focuses on the human movement based on humanoid robot multi-movement and conversion technology and integrates the bionic driving unit, dexterous mechanism design and fall protection movement. BHR-6 has the abilities of fall protection, rolling, walking, crawling and other multi-movement. The robot can stand up after falling and continue its work.
Specification[edit]
| name | height | weight | freedom | function |
|---|---|---|---|---|
| BHR-1 | 1.65m | 76kg | 29 freedoms:12-legs,12-arms,3-waist,2-head | walk at a speed of 2km/h |
| BHR-2 | 1.65m | 70kg | 29 freedoms:12-legs,12-arms,3-waist,2-head | walk at a speed of 2km/h, perform martial art, go up and down the steps |
| BHR-3 | 1.65m | 65kg | 29 freedoms:12-legs,12-arms,3-waist,2-head | walk at a speed of 2km/h,perform Tai-Chi |
| BHR-4 | 1.7m | 65kg | 46 freedoms:12-legs,12-arms,3-waist,19-head | walk at a speed of 2.3km/h，expression communication |
| BHR-5 | 1.60m | 60kg | 23 freedoms:12-legs,8-arms,3-waist | walk at a speed of 2.5km/h，playping-pong，target recognition |
| BHR-6 | 1.60m | 50kg | 23 freedoms:12-legs,8-arms,3-waist | walk at a speed of 3km/h，multi-mode (walk, fall detection, crawl，roll) motion and transformation |
Technology[edit]
- Sensor reflect control
- Fall detection
- Multi-mode motion and transformation
- Bionic dexterity mechanism design
- Fast recognition and reflection
See also[edit]
Reference[edit]
External links[edit]
- BHR-2
- BHR-3
- BHR-4 BHR-5
- BHR-5 playing ping-pong
- Humanoid kinematics mapping and similarity evaluation based on human motion capture
- Sensory reflex control for humanoid walking
- Humanoid Motion Design Considering Rhythm Based on Human Motion Capture
- Balance control of a piped robot combining off-line pattern with real-time modification
- Mechanical design of a light weight and high stiffness arm for humanoids
- Inverse dynamics control with acceleration optimization on a force-controlled bipedal robot
- Bipedal walking with toe-off, heel-strike and compliance with external disturbances
- Dynamic model based ball trajectory prediction for a robot ping-pong player
- Humanoid Motion Design Considering Rhythm Based on Human Motion Capture
- Integral Acceleration Generation for Slip Avoidance in a Planar Humanoid Robot
- Technology Developments: the Role of Mechanism and Machine Science and IFToMM
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