Rh-0

Updated: 13 May 2015 - 12:51am by C. Balaguer

Start:2002 / End:2004

Principal investigator: Carlos Balaguer

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Funder:

CICYT

Autonomous and intelligent humanoid robot for industrial and service applications

The main objective of this project is the development of 21 DOF humanoid robot of real size (1.3 m height). The robot is equipped with on-board CanBus-based control system and two batteries? packs. Rh-0 is able to stable walk in flat in-door environment.

Journal Publications

Publication
Journal 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. num. 1, vol. 6, pages: 71 - 91, 2009 M. Arbulu, C. Balaguer
Journal The Rh-1 full-size humanoid robot: design, walking pattern generation and control Journal of Applied Bionics and Biomechanics (Print ISSN: 1176-2322, Online: ISSN: 1754-2103). num. 3, vol. 6, pages: 301 - 344, 2009 M. Arbulu, D. Kaynov, L.M. Cabas, C. Balaguer
Journal European humanoid robotics program Clawar news. , vol. 9, pages: 13 - 14, 2002 C. Balaguer

Conference Publications

Conference

Nuevas tendencias en plataformas de robótica, caso robot humanoide Rh-1

Conference

Trends of new robotics platform, designing Humanoid Robot Rh-1

Conference

User friendly graphical environment for gait optimization of the humanoid robot Rh-0

Conference

Development of the light-weight human size humanoid robot Rh-0

Conference

Inverse Dynamics of Humanoid Robot by Balanced Mass Distribution Method

Conference

Fast algorithm for kinematics problems solving of the low-cost legged robot LEROI

Conference

Advanced motion control system for the humanoid robot Rh-0

Conference

Humanoid Robot Kinematics Modeling Using Lie Groups

Conference

?T-Shirt Based? Image Recognition System

Conference

Mechanical design and dynamic analysis of the humanoidrobot Rh-0

Conference

EU Humanoid Robots. What is the next step?

Conference

Humans-humanoid robots interaction

Conference

Lie Groups and Lie Algebras in Robotics.

Conference

Rh-0 Humanoid Robot Bipedal Locomotion and Navigation Using Lie Groups and Geometric Algorithms

Conference

ZMP Human Measure System

Conference

Human Machine Interface for Humanoid Robot Rh-0

Conference

Rh-0 humanoid full size robot`s control strategy based on the Lie logic technique

Publication
Conference Nuevas tendencias en plataformas de robótica, caso robot humanoide Rh-1 Intercon 2007XIV Congreso Internacional de Ingeniería Eléctrica, Electrónica y Sistemas, Wednesday, 8 August, 2007, Piura, Peru M. Arbulu, D. Kaynov, L.M. Cabas, P. Staroverov, C. Balaguer
Conference Trends of new robotics platform, designing Humanoid Robot Rh-1 CARS & FOF 0723rd ISPE International Conference on CAD/CAM Robotics and Factories of the Future, Friday, 17 August, 2007, Bogota, Colombia M. Arbulu, D. Kaynov, L.M. Cabas, P. Staroverov, C. Balaguer
Conference User friendly graphical environment for gait optimization of the humanoid robot Rh-0 7tn International Conference on Climbing and Walking Robots (Clawar'2004), Saturday, 25 September, 2004, Madrid, Spain M. Arbulu, P. Staroverov, C. Balaguer
Conference Development of the light-weight human size humanoid robot Rh-0 7th International Conference on Climbing and Walking Robots (Clawar'2004), Saturday, 25 September, 2004, Madrid, Spain M. Arbulu, C. Balaguer
Conference Inverse Dynamics of Humanoid Robot by Balanced Mass Distribution Method IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2004), Tuesday, 28 September, 2004, Sendai, Japan M. Arbulu, C. Balaguer
Conference Fast algorithm for kinematics problems solving of the low-cost legged robot LEROI Clawar 2002, Thursday, 26 September, 2002, Paris, France M. Arbulu, P. Staroverov, C. Balaguer
Conference Advanced motion control system for the humanoid robot Rh-0 8th International Conference on Climbing and Walking Robots (Clawar 2005), Thursday, 15 September, 2005, London, United Kingdom M. Arbulu, D. Kaynov, P. Staroverov, C. Balaguer
Conference Humanoid Robot Kinematics Modeling Using Lie Groups 7th International Conference on Climbing and Walking Robots (Clawar'2004), Thursday, 23 September, 2004, Madrid, Spain J. M. Pardos-Gotor, C. Balaguer
Conference ?T-Shirt Based? Image Recognition System 8th International Conference on Climbing and Walking Robots (Clawar 2005), Thursday, 15 September, 2005, London, United Kingdom M. Arbulu, D. Kaynov, P. Staroverov, C. Balaguer
Conference Mechanical design and dynamic analysis of the humanoidrobot Rh-0 8th International Conference on Climbing and Walking Robots (Clawar 2005), Thursday, 15 September, 2005, London, United Kingdom M. Arbulu, D. Kaynov, R. Cabas, P. Staroverov, C. Balaguer
Conference EU Humanoid Robots. What is the next step? 5th International Conference on Climbing and Walking Robots (CLAWAR?02), Saturday, 21 September, 2002, Paris, France C. Balaguer
Conference Humans-humanoid robots interaction CLAWAR Workshop on Education, Training, Working Conditions and SafetyLugar de celebración: Arganda del Rey, Madrid (España)Fecha: 2002, Thursday, 10 October, 2002, Madrid, Spain C. Balaguer
Conference Lie Groups and Lie Algebras in Robotics. University Carlos III of Madrid - ROBOTICSLAB SEMINAR., Monday, 3 May, 2004, Madrid, Spain J. M. Pardos-Gotor, C. Balaguer
Conference Rh-0 Humanoid Robot Bipedal Locomotion and Navigation Using Lie Groups and Geometric Algorithms International Conference on Intelligent Robots and Systems (IROS'2005), Tuesday, 2 August, 2005, Edmonton, Canada J. M. Pardos-Gotor, C. Balaguer
Conference ZMP Human Measure System 8th International Conference on Climbing and Walking Robots (Clawar'2005), Tuesday, 13 September, 2005, London, United Kingdom M. Arbulu, D. Kaynov, P. Staroverov, C. Balaguer
Conference Human Machine Interface for Humanoid Robot Rh-0 7th International Conference on Climbing and Walking Robots (Clawar'2004), Thursday, 23 September, 2004, Madrid, Spain C. Balaguer
Conference Rh-0 humanoid full size robot`s control strategy based on the Lie logic technique IEEE-RAS International Conference on Humanoid Robots (Humanoids'2005), Tuesday, 6 December, 2005, Tsukuba, Japan M. Arbulu, D. Kaynov, J. M. Pardos-Gotor, P. Staroverov, C. Balaguer