Abstract
This paper gives an overview on HIT humanoid robot, which is developed as a research platform for replicating human in special environments. The system has two upper extremities, each upper extremity includes a 7-DOF humanoid arm and a 15-DOF dexterous hand as end-effector. Two humanoid arms and dexterous hand are combined with a 2-DOF dynamic torso and a 3-DOF binocular head to form the humanoid upper body. A wheeled mobile robot is employed to provide mobility. In this paper, we describe the design specification and give an overview on mechanical design of each subsystem. Additionally, we give a short introduction to the hardware architecture and software of HIT humanoid robot.
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Acknowledgements
This work was supported in part by the National Program on Key Basic Research Project 973 Program under Grant 2013CB733103, the National Natural Science Foundation of China (No. 61603112) and the Self-Planned Task (No. SKLRS201721A) of State Key Laboratory of Robotics and System (HIT).
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Cao, B., Gu, Y., Sun, K., Jin, M., Liu, H. (2017). Development of HIT Humanoid Robot. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_25
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DOI: https://doi.org/10.1007/978-3-319-65292-4_25
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