Title
Rh-0 humanoid full size robot's control strategy based on the Lie logic technique
Date Issued
01 January 2005
Access level
metadata only access
Resource Type
conference paper
Author(s)
Pardos J.M.
Cabas L.
Staroverov P.
Kaynov D.
Pérez C.
Rodriguez M.
Balaguer C.
University Carlos III of Madrid
Abstract
This paper presents the experimental results of the full size Rh-0 humanoid robot developed by the University Carlos III of Madrid. The robot has 21 DOF, 1.350 mm height and 40kg weight including the on-board batteries and hardware. The robot's control architecture is formed by the distributed dual CAN bus system. The bus is used for joints' control and supervision, and also for sensing different global robots features. The key innovation is the kinematics control strategy based on the Lie logic technique. Using the Product of Exponentials (PoE) and the Paden-Kahan sub-problem techniques, the Sagital Kinematics Division (SKD) algorithm for robot's kinematics control had been implemented. The results of this implementation are shown in the final part of the paper. © 2005 IEEE.
Start page
271
End page
276
Volume
2005
Language
English
OCDE Knowledge area
Robótica, Control automático
Sistemas de automatización, Sistemas de control
Subjects
Scopus EID
2-s2.0-33846585006
Resource of which it is part
Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots
ISBN of the container
0780393201, 978-078039320-2
Conference
2005 5th IEEE-RAS International Conference on Humanoid Robots
Sources of information:
Directorio de Producción Científica
Scopus