Title
Advanced motion control system for the humanoid robot Rh-0
Date Issued
01 January 2006
Access level
metadata only access
Resource Type
conference paper
Author(s)
University Carlos III
Publisher(s)
Kluwer Academic Publishers
Abstract
This paper presents an advanced motion control system for the Rh-0 humanoid robot. Rh-0 is a humanoid platform which we developed on the first phase of the Rh project, which was launched by the Robotics Lab at the University Carlos III of Madrid in 2002. The motion control system of Rh-0 is based on standard commercial available hardware components. It provides scalability, modularity and application of standardized interfaces. As a result, easy upgrade and further development of reduced weight humanoid robot is possible. In this paper the hardware system, control level software and experimental results are discussed. © 2006 Springer-Verlag Berlin Heidelberg.
Start page
449
End page
456
Language
English
OCDE Knowledge area
Otras ingenierías, Otras tecnologías
Robótica, Control automático
Subjects
Scopus EID
2-s2.0-84881144133
Resource of which it is part
Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005
ISBN of the container
3540264132, 978-354026413-2
Conference
8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005
Sponsor(s)
BAE SYSTEMSCATERPILLARInternational Federation of Robotics (IFR)Mechatronics, Informatics and Control Group (ImechE)The Institution of Electrical Engineers (IEE)The Institution of Mechanical Engineers,
Sources of information:
Directorio de Producción Científica
Scopus