Cart (Loading....) | Create Account
Close category search window
 

Modelling and control of the humanoid robot RH-1 for collaborative tasks

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Pierro, P. ; Univ. Carlos III of Madrid, Leganes ; Monje, C.A. ; Balaguer, C.

This work deals with the modelling and control of the humanoid robot RH-1, a full scale humanoid prototype totally developed in the University Carlos III of Madrid and the only one existing in our country. The main objective is to develop an advanced control system that allows cooperation tasks to be carried out semi-autonomously between humanoid robots and humans in real working environments. The kinematic model and a simplification of the dynamic model of the robot are presented in this paper, together with a control strategy for the stabilization of the system during the walking and collaborative actions. Several simulation and experimental results are also given along the paper to illustrate the work.

Published in:

Humanoid Robots, 2008. Humanoids 2008. 8th IEEE-RAS International Conference on

Date of Conference:

1-3 Dec. 2008

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.