Design and Control of the Biped Robot HTY.

This paper presents the development of the bipedal robot platform, HTY, which is designed for operation in dangerous and unknown environments, with the ability to move in complex environments. The robot is equipped with a simple joint and structure layout to ensure a wide range of joint movements and has the ability to perceive the status of its foot. The modular design and scalability requirements are also met. The HTY bipedal robot has a total of 12 degrees of freedom, a height of 119 cm, and a weight of 54 kg. The developed motion planning and control framework is tested on both the Gazebo simulation platform and the physical robot, achieving stable walking. This paper mainly introduces the design concept and basic specifications of the robot.