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Design and Dynamic Walking Control of Humanoid Robot Blackmann

This paper presents the basic configuration and control method of the humanoid robot Blackmann, which is developed by the Robot Laboratory in the National University of Defense Technology, China. Blackmann is 1.55 meters tall and 63.5 Kg weight with 36 DOFs, and it was designed to be humanlike including two legs, two arms, a trunk and a head. This paper covers the mechanical design, hardware description and motion control schemes of Blackmann, and a kind of dynamical walking control scheme based on FRI point was proposed. Up to now, Blackmann has been built and tested; the embedded control system has been realized and assembled in the body of Blackmann; the basic control schemes based on FRI point and anthropomorphic walking has been realized and further study is in process