@ARTICLE{m.arbulu2009real-timegaitplanning,
TITLE = {Real-Time Gait Planning for Rh-1 Humanoid Robot Using Local Axis Gait Algorithm },
JOURNAL = {International Journal of Humanoid Robotics. Print ISSN: 0219-8436. Online ISSN: 1793-6942},
VOLUME = {6},
NUMBER = {1},
PAGES = {71 - 91},
YEAR = {2009},
AUTHOR = {M. Arbulu, C. Balaguer}
}
@ARTICLE{m.arbulu2009therh-1full-size,
TITLE = {The Rh-1 full-size humanoid robot: design, walking pattern generation and control},
JOURNAL = {Journal of Applied Bionics and Biomechanics  (Print ISSN: 1176-2322, Online: ISSN: 1754-2103)},
VOLUME = {6},
NUMBER = {3},
PAGES = {301 - 344},
YEAR = {2009},
AUTHOR = {M. Arbulu, D. Kaynov, L.M. Cabas, C. Balaguer}
}
@CONFERENCE{m.arbulu2010aimingformultibody,
TITLE = {Aiming for Multibody Dynamics on Stable Humanoid Motion with Special Euclidean Groups},
BOOKTITLE = {},
CONGRESS = {2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS’2010},
DATE = {2010-10-18 00:00:00},
CITY = {Taipei},
COUNTRY = {China},
ISBN = {978-1-4244-6676},
PUBLISHER = {},
PAGES = {691 - 697},
YEAR = {2010},
AUTHOR = {M. Arbulu, S. Martinez, A. Jardon, C.A. Monje, C. Balaguer}
}
@CONFERENCE{m.arbulu2009robothumanoiderh-2,
TITLE = {Robot Humanoide RH-2},
BOOKTITLE = {},
CONGRESS = {II Workshop de Robótica, Robot’09},
DATE = {2009-11-23 00:00:00},
CITY = {Barcelona},
COUNTRY = {Spain},
ISBN = {},
PUBLISHER = {},
PAGES = {1 - 9},
YEAR = {2009},
AUTHOR = {M. Arbulu, C.A. Monje, C. Balaguer}
}
@CONFERENCE{m.arbulu2008arquitecturadecontrol,
TITLE = {Arquitectura de Control para la Colaboración Hombre-Humanoide},
BOOKTITLE = {},
CONGRESS = {4º Workshop Robots Personales y Asistenciales, RooboCity2030},
DATE = {2008-05-29 00:00:00},
CITY = {-},
COUNTRY = {},
ISBN = {978-84-691-3824},
PUBLISHER = {},
PAGES = {183 - 191},
YEAR = {2008},
AUTHOR = {M. Arbulu, D. Kaynov, L.A. Pabon, P. Pierro, C. Perez, P. Staroverov, C.A. Monje, C. Balaguer}
}
@CONFERENCE{m.arbulu2008robothumanoiderh-1,
TITLE = {Robot Humanoide RH-1 Como Asistente Personal},
BOOKTITLE = {},
CONGRESS = {4º Workshop Robots Personales y Asistenciales, RooboCity2030},
DATE = {2008-05-29 00:00:00},
CITY = {Madrid},
COUNTRY = {Spain},
ISBN = {978-84-691-3824},
PUBLISHER = {},
PAGES = {227 - 236},
YEAR = {2008},
AUTHOR = {M. Arbulu, D. Kaynov, L.A. Pabon, P. Pierro, C. Perez, P. Staroverov, C.A. Monje, C. Balaguer}
}
@CONFERENCE{m.arbulu2008inversedynamicsmodelling,
TITLE = {INVERSE DYNAMICS MODELLING FOR HUMANOID ROBOTS BASED IN LIE GROUPS AND SCREWS},
BOOKTITLE = {},
CONGRESS = {11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2008)},
DATE = {2008-09-10 00:00:00},
CITY = {Coimbra},
COUNTRY = {Portugal},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {2008},
AUTHOR = {M. Arbulu, C. Balaguer}
}
@CONFERENCE{m.arbulu2008human-humanoidrobotcooperation,
TITLE = {HUMAN-HUMANOID ROBOT COOPERATION IN COLLABORATIVE TRANSPORTATION TASKS},
BOOKTITLE = {},
CONGRESS = {11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2008)},
DATE = {2008-09-10 00:00:00},
CITY = {Coimbra},
COUNTRY = {Portugal},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {2008},
AUTHOR = {M. Arbulu, C. Balaguer}
}
@CONFERENCE{m.arbulu2007footplanningmotion,
TITLE = {Foot planning motion of humanoid robot Rh-1 using Lag algorithm},
BOOKTITLE = {},
CONGRESS = {Clawar 2007},
DATE = {2007-07-18 00:00:00},
CITY = {Singapore},
COUNTRY = {Singapore},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {2007},
AUTHOR = {M. Arbulu, D. Kaynov, L.M. Cabas, P. Staroverov, C. Balaguer}
}
@CONFERENCE{m.arbulu2007nuevastendenciasen,
TITLE = {Nuevas tendencias en plataformas de robótica, caso robot humanoide Rh-1},
BOOKTITLE = {},
CONGRESS = {Intercon 2007XIV Congreso Internacional de Ingeniería Eléctrica, Electrónica y Sistemas},
DATE = {2007-08-08 00:00:00},
CITY = {Piura},
COUNTRY = {Peru},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {2007},
AUTHOR = {M. Arbulu, D. Kaynov, L.M. Cabas, P. Staroverov, C. Balaguer}
}
@CONFERENCE{m.arbulu2007trendsofnew,
TITLE = {Trends of new robotics platform, designing Humanoid Robot Rh-1},
BOOKTITLE = {},
CONGRESS = {CARS & FOF 0723rd ISPE International Conference on CAD/CAM Robotics and Factories of the Future},
DATE = {2007-08-17 00:00:00},
CITY = {Bogota},
COUNTRY = {Colombia},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {2007},
AUTHOR = {M. Arbulu, D. Kaynov, L.M. Cabas, P. Staroverov, C. Balaguer}
}
@CONFERENCE{m.arbulu2004userfriendlygraphical,
TITLE = {User friendly graphical environment for gait optimization of the humanoid robot Rh-0},
BOOKTITLE = {7th nternational Conference on Climbing and Walking Robots an their Supporting Technologies},
CONGRESS = {7tn International Conference on Climbing and Walking Robots (Clawar'2004)},
DATE = {2004-09-25 00:00:00},
CITY = {Madrid},
COUNTRY = {Spain},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {2004},
AUTHOR = {M. Arbulu, P. Staroverov, C. Balaguer}
}
@CONFERENCE{m.arbulu2004developmentofthe,
TITLE = {Development of the light-weight human size humanoid robot Rh-0},
BOOKTITLE = {},
CONGRESS = {7th International Conference on Climbing and Walking Robots (Clawar'2004)},
DATE = {2004-09-25 00:00:00},
CITY = {Madrid},
COUNTRY = {Spain},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {2004},
AUTHOR = {M. Arbulu, C. Balaguer}
}
@CONFERENCE{m.arbulu2004inversedynamicsof,
TITLE = {Inverse Dynamics of Humanoid Robot by Balanced Mass Distribution Method},
BOOKTITLE = {},
CONGRESS = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2004)},
DATE = {2004-09-28 00:00:00},
CITY = {Sendai},
COUNTRY = {Japan},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {2004},
AUTHOR = {M. Arbulu, C. Balaguer}
}
@CONFERENCE{m.arbulu2002fastalgorithmfor,
TITLE = {Fast algorithm for kinematics problems solving of the low-cost legged robot LEROI},
BOOKTITLE = {Fifth International Conference on Climbing and Walking Robots an their Supporting Technologies},
CONGRESS = {Clawar 2002},
DATE = {2002-09-26 00:00:00},
CITY = {Paris},
COUNTRY = {France},
ISBN = {1-86058-380-6},
PUBLISHER = {Professional Engineering Pulishing Limited, IMechE},
PAGES = {775 - 782},
YEAR = {2002},
AUTHOR = {M. Arbulu, P. Staroverov, C. Balaguer}
}
@CONFERENCE{m.arbulu0creatingagesture,
TITLE = {Creating a gesture recognition system based on shirt shapes},
BOOKTITLE = {},
CONGRESS = {Clawar 2007},
DATE = {2007-07-16 00:00:00},
CITY = {Singapore},
COUNTRY = {Singapore},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, D. Kaynov, L.M. Cabas, P. Staroverov, C. Balaguer}
}
@CONFERENCE{m.arbulu0zmphumanmeasure,
TITLE = {ZMP Human Measure System},
BOOKTITLE = {},
CONGRESS = {8th International Conference on Climbing and Walking Robots (Clawar'2005)},
DATE = {2005-09-13 00:00:00},
CITY = {London},
COUNTRY = {United Kingdom},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, D. Kaynov, P. Staroverov, C. Balaguer}
}
@CONFERENCE{m.arbulu0real-timegait,
TITLE = {Real -Time gait planning for Rh-1 humanoid robot, using Local Axis Gait algorithm},
BOOKTITLE = {},
CONGRESS = {IEEE-RAS International Conference on Humanoid Robots (Humanoids'2007)},
DATE = {2007-11-29 00:00:00},
CITY = {Pittsburg-Pensi},
COUNTRY = {USA},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, C. Balaguer}
}
@CONFERENCE{m.arbulu0rh-0humanoidfull,
TITLE = {Rh-0 humanoid full size robot`s control strategy based on the Lie logic technique},
BOOKTITLE = {},
CONGRESS = {IEEE-RAS International Conference on Humanoid Robots (Humanoids'2005)},
DATE = {2005-12-06 00:00:00},
CITY = {Tsukuba},
COUNTRY = {Japan},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, D. Kaynov, J. M. Pardos-Gotor, P. Staroverov, C. Balaguer}
}
@CONFERENCE{m.arbulu0arquitecturadecontrol,
TITLE = {Arquitectura de control para la marcha dinámica de los robots humanoides. Aplicación al robot Rh-1},
BOOKTITLE = {},
CONGRESS = {Workshop. Arquitecturas de control para robots},
DATE = {2007-02-01 00:00:00},
CITY = {Madrid},
COUNTRY = {Spain},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, D. Kaynov, C. Balaguer}
}
@CONFERENCE{m.arbulu0advancedmotioncontrol,
TITLE = {Advanced motion control system for the humanoid robot Rh-0},
BOOKTITLE = {},
CONGRESS = {8th International Conference on Climbing and Walking Robots (Clawar 2005)},
DATE = {2005-09-15 00:00:00},
CITY = {London},
COUNTRY = {United Kingdom},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, D. Kaynov, P. Staroverov, C. Balaguer}
}
@CONFERENCE{m.arbulu0k.,yokoi,a.,,
TITLE = {K., Yokoi, A., Kheddar, C., Balaguer<br>Dynamic acyclic motion from a planar contact-stance to another },
BOOKTITLE = {},
CONGRESS = {IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems},
DATE = {2008-09-22 00:00:00},
CITY = {Nice},
COUNTRY = {France},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu}
}
@CONFERENCE{m.arbulu0?t-shirtbased?image,
TITLE = {?T-Shirt Based? Image Recognition System},
BOOKTITLE = {},
CONGRESS = {8th International Conference on Climbing and Walking Robots (Clawar 2005)},
DATE = {2005-09-15 00:00:00},
CITY = {London},
COUNTRY = {United Kingdom},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, D. Kaynov, P. Staroverov, C. Balaguer}
}
@CONFERENCE{m.arbulu0mechanicaldesignand,
TITLE = {Mechanical design and dynamic analysis of the humanoidrobot Rh-0},
BOOKTITLE = {},
CONGRESS = {8th International Conference on Climbing and Walking Robots (Clawar 2005)},
DATE = {2005-09-15 00:00:00},
CITY = {London},
COUNTRY = {United Kingdom},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, D. Kaynov, R. Cabas, P. Staroverov, C. Balaguer}
}
@CONFERENCE{m.arbulu0mechanicalcalculationson,
TITLE = {Mechanical Calculations on a Humanoid Robot},
BOOKTITLE = {},
CONGRESS = {9th Internacional Conference on Climbing and Walking Robots (Clawar 2006)},
DATE = {2006-10-01 00:00:00},
CITY = {Brussels},
COUNTRY = {Belgium},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, D. Kaynov, C. Perez, R. Cabas, L.M. Cabas, P. Staroverov, C. Balaguer}
}
@CONFERENCE{m.arbulu0rh-2anupgraded,
TITLE = {RH-2 an Upgraded full-size humanoid platform},
BOOKTITLE = {},
CONGRESS = {12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR '09)},
DATE = {2009-09-10 00:00:00},
CITY = {Istanbul},
COUNTRY = {Turkey},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, L.A. Pabon, P. Pierro, C. Perez, S. Martinez, C. Balaguer}
}
@CONFERENCE{m.arbulu0challengesinthe,
TITLE = {Challenges in the design of the humanoid robot RH-1},
BOOKTITLE = {},
CONGRESS = {9th Internacional Conference on Climbing and Walking Robots (Clawar 2006)},
DATE = {2006-10-01 00:00:00},
CITY = {Brussels},
COUNTRY = {Belgium},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, D. Kaynov, C. Perez, R. Cabas, L.M. Cabas, P. Staroverov, C. Balaguer}
}
@CONFERENCE{m.arbulu0controldela,
TITLE = {Control de la caminata del robot humanoide RH-1},
BOOKTITLE = {},
CONGRESS = {XXIX Jornadas de Automática},
DATE = {2008-09-03 00:00:00},
CITY = {Tarragona},
COUNTRY = {Spain},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, D. Kaynov, L.A. Pabon, P. Pierro, C. Perez, P. Staroverov, C.A. Monje, C. Balaguer}
}
@CONFERENCE{m.arbulu0on-linewalkingpatterns,
TITLE = {On-line walking patterns generation for RH-1 Humanoid Robot using a simple three-dimensional inverted pendulum model},
BOOKTITLE = {},
CONGRESS = {9th Internacional Conference on Climbing and Walking Robots (Clawar 2006)},
DATE = {2006-10-01 00:00:00},
CITY = {Brussels},
COUNTRY = {Belgium},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, D. Kaynov, C. Perez, L.M. Cabas, P. Staroverov, C. Balaguer}
}
@CONFERENCE{m.arbulu0modeladoycontrol,
TITLE = {Modelado y control del robot Humanoide RH-1 mediante el modelo del péndulo invertido simple},
BOOKTITLE = {},
CONGRESS = {IV Workshop Robocity 2030: Robots personales y asistenciales},
DATE = {2008-05-01 00:00:00},
CITY = {Madrid},
COUNTRY = {Spain},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, D. Kaynov, P. Zafra, L.A. Pabon, P. Pierro, C. Perez, P. Staroverov, C.A. Monje}
}
@CONFERENCE{m.arbulu0avoicecontrolled,
TITLE = {A Voice Controlled Image Recognition System},
BOOKTITLE = {},
CONGRESS = {9th Internacional Conference on Climbing and Walking Robots (Clawar 2006)},
DATE = {2006-10-01 00:00:00},
CITY = {Brussels},
COUNTRY = {Belgium},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, D. Kaynov, C. Perez, L.M. Cabas, P. Staroverov, C. Balaguer}
}
@CONFERENCE{m.arbulu0aimingformultibody,
TITLE = {Aiming for multibody dynamics on stable humanoid motion with Special Euclideans groups, called SE(3) (Accepted)},
BOOKTITLE = {},
CONGRESS = {2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)},
DATE = {2010-10-18 00:00:00},
CITY = {Taipei},
COUNTRY = {Taiwan},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, S. Martinez, A. Jardon, C.A. Monje, C. Balaguer}
}
@CONFERENCE{m.arbulu0controlarchitecturefor,
TITLE = {Control Architecture for the dynamic humanoid robot walking. Application to the RH-1 robot},
BOOKTITLE = {},
CONGRESS = {9th Internacional Conference on Climbing and Walking Robots (Clawar 2006)},
DATE = {2006-10-01 00:00:00},
CITY = {Brussels},
COUNTRY = {Belgium},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, D. Kaynov, C. Perez, P. Staroverov, C. Balaguer}
}
@CONFERENCE{m.arbulu0multibodydynamicson,
TITLE = {MULTIBODY DYNAMICS ON STABLE HUMANOID MOTION WITH SPECIAL EUCLIDEANS GROUPS, CALLED SE(3) (Accepted)},
BOOKTITLE = {},
CONGRESS = {13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2010)},
DATE = {2010-08-31 00:00:00},
CITY = {-},
COUNTRY = {},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, C. Balaguer}
}
@CONFERENCE{m.arbulu0detectingsoundsources,
TITLE = {Detecting sound sources with the humanoid robot Rh-1},
BOOKTITLE = {},
CONGRESS = {Clawar 2007 },
DATE = {2007-07-16 00:00:00},
CITY = {Singapore},
COUNTRY = {Singapore},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, D. Kaynov, L.M. Cabas, P. Staroverov, C. Balaguer}
}
@CONFERENCE{m.arbulu0softwareandcommunication,
TITLE = {Software and communication infrastructure design of the Humanoid},
BOOKTITLE = {},
CONGRESS = {Clawar 2007},
DATE = {2007-07-17 00:00:00},
CITY = {Singapore},
COUNTRY = {Singapore},
ISBN = {},
PUBLISHER = {},
PAGES = {0 - 0},
YEAR = {0},
AUTHOR = {M. Arbulu, D. Kaynov, L.M. Cabas, P. Staroverov, C. Balaguer}
}
@BOOK{m.arbulu2009climbingandwalking,
CHAPTER = {The Rh-1 full-size humanoid robot: Control system design and Walking pattern generation},
TITLE = {Climbing and Walking Robots},
PUBLISHER = {IN-TECH},
ISBN = {978-953-307-030},
CITY = {},
PAGES = {0 - 0},
YEAR = {2009},
AUTHOR = {M. Arbulu, D. Kaynov, C. Balaguer}
}
@PATENT{l.a.pabon2009alojamientoparatransmisión,
TITLE = {Alojamiento para transmisión armónica de engranajes, sistema reductor-amplificador de velocidad, sistema moto-reductor y método para reducir la velocidad de un motor},
REFERENCE = {P200900927},
TYPE = {},
YEAR = {2009},
AUTHOR = {L.A. Pabon, C. Balaguer, M. Arbulu}
}
@PATENT{a.jardon2009alojamientoparatransmisión,
TITLE = {Alojamiento para transmisión armónica de engranajes, sistema reductor-amplificador de velocidad, sistema moto-reductor y método para reducir la velocidad de un motor},
REFERENCE = {P200900927},
TYPE = {},
YEAR = {2009},
AUTHOR = {A. Jardon, C. Balaguer, M. Arbulu, L.A. Pabon}
}
@PHDTHESIS{m.arbulu2009stablelocomotionof,
TITLE = {Stable locomotion of humanoid robots based on mass concentrated model},
SCHOOL = {},
QUALIFICATION = {Sobresaliente "Cum Laudem"},
SUPERVISORS = {C. Balaguer},
YEAR = {2009},
AUTHOR = {M. Arbulu}
}