Humanoid robots program of the RoboticsLab started on 2001 by developing the 7 DOF bipedal robot Leroy. Since 2002 Rh-0 project, and later Rh-1 one, had the objective of development a 21 DOF full size robot.
The research topics of the RoboticsLab humanoid team include: kinematics & dynamics control, gait generation & path planning, Lie logic-based control algorithms, humanoid robots VR simulator, sensory-based head, low-weight dexterous hand, cooperative working environments, etc.
S.Martínez; C.Monje; A.Jardón; P.Pierro; C.Balaguer. TEO: Full-size humanoid robot design powered by a fuel cell system. An International Journal on Cybernetics and Systems . Vol. 43. No. 3. pp.163-180. 2012.
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J.Villagrá; C.Balaguer. A model-free approach for accurate joint motion control in humanoid locomotion. International Journal of Humanoid Robotics. Vol. 8. No. 1. pp.0-0. 2011.
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M.Arbulú; C.Balaguer. Real-Time Gait Planning for Rh-1 Humanoid Robot Using Local Axis Gait Algorithm . International Journal of Humanoid Robotics. Print ISSN: 0219-8436. Online ISSN: 1793-6942. Vol. 6. No. 1. pp.71-91. 2009.
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M.Arbulú; D.Kaynov; L.M.Cabas; C.Balaguer. The Rh-1 full-size humanoid robot: design, walking pattern generation and control (Print ISSN: 1176-2322, Online: ISSN: 1754-2103). Journal of Applied Bionics and Biomechanics. Vol. 6. No. 3. pp.301-344. 2009.
P.Pierro; C.Balaguer. O. Stasse; A. Kheddar; K. Yokoi. Humanoid feet trajectory generation for the reduction of the dynamical effects. The 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids '09). Paris. France. Dec, 2009.
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P.Pierro; D.Hernandez; M.G.Fierro; C.Balaguer. L. Blasi; A. Milani. A human-humanoid interface for collaborative tasks. Second workshop for young researchers on Human-friendly robotics. Sestri Levante. Italy. Dec, 2009.
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P.Pierro; M.G.Fierro; C.Balaguer. El proyecto europeo ROBOT@CWE: Advanced robotic systems in future collaborative working environments.. II Workshop de Robotica (ROBOT 2009). Barcelona. Spain. Nov, 2009.
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D.Kaynov; P.Pierro; C.Balaguer. A Practical Decoupled Stabilizer for Joint-Position Controlled Humanoid Robots. The 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS '09). St. Louis. USA. Oct, 2009.
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P.Pierro; C.Monje; C.Balaguer. The Virtual COM Joints Approach for Whole-Body RH-1 Motion. 18th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN '09)
. Toyama . Japan. Sep, 2009.
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C.Monje; P.Pierro; C.Balaguer. Performing collaborative tasks with the humanoid robot RH-1 - A novel control architecture. 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR '09). Istanbul. Turkey. Sep, 2009.
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C.Pérez; P.Pierro; S.Martínez; L.A.Pabón; M.Arbulú; C.Balaguer. RH-2 an Upgraded full-size humanoid platform. 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR '09). Istanbul. Turkey. Sep, 2009.
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A.Jardón; J.G.Quijano. Optimal gait synthesis of biped robot pasibot using artificial intelligence based predictive control. 12th International Conference on Climbing and Walking Robots (Clawar'09). Istanbul. . Sep, 2009.
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P.Pierro; D.Hernandez; M.G.Fierro; C.Balaguer. Humanoid teleoperation system for space environments
. 14th International Conference on Advanced Robotics (ICAR '09)
. Munich. Germany. Jun, 2009. . ISBN: 978-1-4244-4855. . pp.1-6. 2009.
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C.Monje; P.Pierro; C.Balaguer. Pose Control of the Humanoid Robot RH-1 for Mobile Manipulation. 14th International Conference on Advanced Robotics (ICAR '09). Munich. Germany. Jun, 2009.
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Patents
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A.Jardón; C.Balaguer; R.Palencia. Pointer device (DISPOSITIVO INDICADOR).
Número de publicación: ES2325976 A1 (25.09.2009)
También publicado como: ES2325976 B1 (25.06.2010)
[online]
. Ref: nº P2000803615. 2009.
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L.A.Pabón; C.Balaguer; M.Arbulú. Alojamiento para transmisión armónica de engranajes, sistema
reductor-amplificador de velocidad, sistema moto-reductor y método para
reducir la velocidad de un motor (Applied). . Ref: P200900927. 2009.
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S.Martínez; C.Pérez; A.Jardón; C.Balaguer. Three axis tactile sensor SENSOR TÁCTIL DE TRES EJES.
Número de publicación: ES2358655 A1 (12.05.2011)
También publicado como: ES2358655 B1 (16.03.2012)
[online] . Ref: P200901904. 2009.
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A.Jardón; C.Balaguer; M.Arbulú; L.A.Pabón. ALOJAMIENTO PARA TRANSMISIÓN ARMÓNICA DE ENGRANAJES, SISTEMA REDUCTOR-AMPLIFICADOR DE VELOCIDAD, SISTEMA MOTO-REDUCTOR Y MÉTODO PARA REDUCIR LA VELOCIDAD DE UN MOTOR.
Número de publicación: ES2373493 A1 (06.02.2012)
También publicado como: ES2373493 B1 (06.11.2012) . Ref: P200900927. 2009.
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A.Jardón; C.Balaguer; L.A.Pabón. Mecanismo de ajuste de la fuerza de pretensión en sistemas de transmisión correa-polea
. Ref: EP09382035.5 . 2009.
Doctoral Thesis
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D.Kaynov. Open Motion Control Architecture for Humanoid Robots. Supervisors: C.Balaguer. Sobresaliente "Cum Laudem". 2009.
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M.Arbulú. Stable locomotion of humanoid robots based on mass concentrated model. Supervisors: C.Balaguer. Sobresaliente "Cum Laudem". 2009.
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