BHR(Humanoid robot)
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BHR series robots
BHR is an acronym for Beijing Institute of Technology Humanoid Robots. BHR humanoid robots have been developing by the team led by Prof. Qiang Huang, in Intelligent Robotics Institute, Beijing Institute of Technology, China. The first generation robot called BHR-1 was born in 2002. And since then there has been six generation robots come into being. The BHR series robots are aiming 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
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BHR-1：2002, walking with no external cable
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BHR-2: 2005, performing martial art
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BHR-3: 2009, communicating with human
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BHR-5: 2011,playing ping-pong with the visitor
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BHR-5: 2017, public appearance
- 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 broke through the system integration technology of humanoid robot, and developed the first humanoid robot with no external cable to walk independently.
- In 2005, with the key support in the advanced manufacturing field of the national 863 plan of the “Tenth Five-Years” plan of the Ministry of Science and Technology, the second generation of humanoid robots(BHR-2) came out. BHR-2 made a big progress in the humanoid robots’ stable walking and complex sports planning, and realized 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 popular science education. The project focused on systems engineering design and reliability research. It is the first time in China that a humanoid robot is brought into practical application instead of standing in a laboratory. It was exhibited at China Science and Technology Museum and Guangdong Science Center successively.
- In 2010, with the key support in 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 robots(BHR-4) with height 1.7 meters, weight 65 kg, 46 degrees of freedom came out. BHR-4 achieved human expression simulation and mobile job planning.
- In 2011, the fifth generation of humanoid robot ‘BHR-5’ came out. It achieved the key technologies of smart motion control based on high-speed visual servoing and coordinated whole body autonomic reaction. The fifth generation of humanoid robot could hit table tennis up to more than 200 rounds, which showed humanoid robot's height perception and motion control ability.
- In 2017, the sixth generation of humanoid robot(BHR-6) was launched. The prototype BHR- 6p robot focus on the key technologies of the human movement based humanoid robot multi movement and conversion, integrates bionic drive 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 after the fall and continue working.
Specification
| 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
- Sensor reflect control
- Fall detection
- Multi-mode motion and transformation
- Bionic dexterity mechanism design
- Fast recognition and reflection
See also
Reference
- 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