Chinese universities and the industry have taken a critical step in the field of humanoid robots. Professor Fu Yili and Professor Ni Fenglei from the School of Mechanical Engineering at Harbin Institute of Technology, in collaboration with their alumni company, Boshihua, recently officially launched a dual-form humanoid robot system. The system includes two platforms: bipedal walking and wheeled mobility. It also introduced self-developed high-performance joint modules, dual versions of dexterous hands, and an intelligent control system driven by the "Huazi-Rixin" AI large model, marking a systematic breakthrough in core components and system integration of humanoid robots in China.

 Dual-Form Robot: One Machine, Multiple Scenarios, Precisely Adaptable to Complex Tasks

For different application scenarios, the team developed two differentiated humanoid robots:

- Bipedal Humanoid Robot: Designed for unstructured and complex terrains (such as factory inspections and disaster sites), it has high dynamic balance and obstacle-crossing capabilities.

- Wheeled Humanoid Robot: Specializing in service, transportation, and precision operations in indoor flat environments, it balances efficiency and stability.

Both models are equipped with a 7-degree-of-freedom series-parallel hybrid manipulator, supporting full-joint force control. They can perform smooth and safe fine operations when working with humans, such as picking up fragile items or assisting in assembly.

 Self-Developed Core Components: Lightweight and High Load Capacity, Force Control Accuracy Leading the Industry

The team achieved multiple technical breakthroughs in key actuation units:

- Rotational Joints: A self-developed cycloidal rotational joint integrated with a torque sensor, achieving a load capacity of 5kg while weighing only 5kg; the leg joint peak torque reaches 400Nm, supporting stable walking and carrying heavy loads.

- Linear Joints: Deeply integrated with sensors and controllers, with a maximum thrust of 10,000N, meeting the needs of high-intensity operations.

- Dual Solutions for Dexterous Hands:

  - High-performance Version: 20 joints, 15 active degrees of freedom, suitable for precise assembly;

  - Lightweight Version: 11 joints, 7 active degrees of freedom, suitable for long-duration service tasks.

Both versions use original rigid tendon transmission. Each finger's dynamic fingertip force exceeds 30N, and they are equipped with dual encoders plus a torque sensor, enabling feedback-based force control for smooth grasping.

 Intelligent Core: “Huazi-Rixin” Large Model Empowers Task Understanding and Execution

The robot is equipped with the "Huazi-Rixin" AI large model, self-developed by Harbin Institute of Technology, as its intelligent core. It features:

- Natural language interaction: understanding complex voice commands;

- Task decomposition capability: breaking down a command like "Please help me organize the tool table" into subtasks such as recognition, grasping, and placement;

- Multimodal perception fusion: combining vision, force sense, and speech to achieve environmental adaptability.

The control level adopts a model predictive control (MPC) strategy, maintaining high stability in complex terrain and dynamic interactions.

 Deep Integration of Industry, Academia, and Research: Boshihua Supports Technological Application

Boshihua, a high-tech enterprise incubated by the Harbin Institute of Technology Robotics Research Institute, has been focusing on industrial automation since its establishment in 1997. This time, it deeply participated in the entire process of humanoid robot development, from core component research to system integration, providing engineering and industrial support for technology transfer.

AIbase Observation: From “Mobility” to “Thinking and Doing,” Chinese Robots Enter a Stage of System Innovation

The recent achievements released by Harbin Institute of Technology not only demonstrate hardware performance but also reflect the team’s full-stack self-research capabilities in perception, decision-making, and execution. In global humanoid robot competitions, China is moving from “following parameters” to “defining scenarios.” The dual-platform strategy of bipedal and wheeled robots reflects a pragmatic approach to feasibility.