Robotics Lab Rh-0

Rh-0

Autonomous and intelligent humanoid robot for industrial and service applications

Funding: CICYT DPI

2002- 2004

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.

Pictures and movies

Journal publications

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.

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.

C.Balaguer. European humanoid robotics program. Clawar news. Vol. 9. No. . pp.13-14. 2002.

Conference publications

M.Arbulú; L.M.Cabas; D.Kaynov; P.Staroverov; C.Balaguer. Trends of new robotics platform, designing Humanoid Robot Rh-1. CARS & FOF 07 23rd ISPE International Conference on CAD/CAM Robotics and Factories of the Future. Bogota. Colombia. Aug, 2007.

M.Arbulú; D.Kaynov; L.M.Cabas; P.Staroverov; C.Balaguer. Nuevas tendencias en plataformas de robótica, caso robot humanoide Rh-1. Intercon 2007 XIV Congreso Internacional de Ingeniería Eléctrica, Electrónica y Sistemas. Piura. Peru. Aug, 2007.

M.Arbulú; J.M.Pardos; L.M.Cabas; P.Staroverov; D.Kaynov; C.Pérez; M.A.Rodríguez; C.Balaguer. Rh-0 humanoid full size robot`s control strategy based on the Lie logic technique. IEEE-RAS International Conference on Humanoid Robots (Humanoids'2005). Tsukuba. Japan. Dec, 2005.

D.Kaynov; M.A.Rodríguez; M.Arbulú; P.Staroverov; L.M.Cabas; C.Balaguer. Advanced motion control system for the humanoid robot Rh-0. 8th International Conference on Climbing and Walking Robots (Clawar 2005). London. United Kingdom. Sep, 2005.

P.Staroverov; C.Chicharro; D.Kaynov; M.Arbulú; L.M.Cabas; C.Balaguer. ?T-Shirt Based? Image Recognition System. 8th International Conference on Climbing and Walking Robots (Clawar 2005). London. United Kingdom. Sep, 2005.

L.M.Cabas; S.Torre; R.Cabas; D.Kaynov; M.Arbulú; P.Staroverov; C.Balaguer. Mechanical design and dynamic analysis of the humanoid robot Rh-0. 8th International Conference on Climbing and Walking Robots (Clawar 2005). London. United Kingdom. Sep, 2005.

M.Arbulú; F.Prieto; L.M.Cabas; P.Staroverov; D.Kaynov; C.Balaguer. ZMP Human Measure System . 8th International Conference on Climbing and Walking Robots (Clawar'2005). London. United Kingdom. Sep, 2005.

J.M.Pardos; C.Balaguer. Rh-0 Humanoid Robot Bipedal Locomotion and Navigation Using Lie Groups and Geometric Algorithms . International Conference on Intelligent Robots and Systems (IROS'2005). Edmonton. Canada. Aug, 2005.

S.Torre; L.M.Cabas; M.Arbulú; C.Balaguer. Inverse Dynamics of Humanoid Robot by Balanced Mass Distribution Method. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2004). Sendai. Japan. Sep, 2004.

M.Arbulú; I.Prieto; L.M.Cabas; P.Staroverov; C.Balaguer. User friendly graphical environment for gait optimization of the humanoid robot Rh-0. 7tn International Conference on Climbing and Walking Robots (Clawar'2004). Madrid. Spain. Sep, 2004.

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