Updated: 19 December 2014 - 12:01pm by C. Balaguer
The humanoid robot bipedal locomotion requires computationally advanced and efficient algorithms to solve both, the global navigation with obstacle avoidance and the local mechanics movements problems.
Humanoid robotics hardware and control techniques have advanced rapidly during the last years. In order to improve the autonomy and overall functionality of these robots, reliable sensors and general integrated software tools and techniques are needed. It is easier for bipedal robots to exist in a human oriented environment than for other types of robots. For a biped robot to achieve dynamic balance while walking, practical motion planning algorithms with obstacle avoidance and dynamic gait algoitms must be developed. A biped robot also requires a control system to ensure the stability of the robot while walking.
Journal Publications
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Journal
A model-free approach for accurate joint motion control in humanoid locomotion
International Journal of Humanoid Robotics. num. 1, vol. 8, pages: 0 - 0, 2011 J. Villagra, C. Balaguer |
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Journal
Humanoid Robot RH-1 for Collaborative Tasks. A Control Architecture for Human-Robot Cooperation
Applied Bionics and Biomechanics. num. 4, vol. 5, pages: 225 - 234, 2009 C.A. Monje, P. Pierro, C. Balaguer |
Conference Publications
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Conference
Capítulo: "Realización de tareas colaborativas entre robots humanoides. Experimentación con dos robots Robonova"
At Proceedings of the V Workshop ROBOCITY2030. Cooperación en Robótica, Sunday, 1 February, 2009, Madrid, Spain D. Herrero, P. Pierro, A. Jardon, C. Balaguer |
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Conference
Realización de tareas colaborativas entre robots humanoides. Experimentación con dos robots Robonova
5º Workshop Robocity 2030: Cooperación en Robótica, Sunday, 1 February, 2009, Madrid, M. González-Fierro, D. Herrero, P. Pierro, A. Jardon, C. Balaguer |
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Conference
HUMAN-HUMANOID ROBOT COOPERATION IN COLLABORATIVE TRANSPORTATION TASKS
11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2008), Wednesday, 10 September, 2008, Coimbra, Portugal M. Arbulu, C. Balaguer |
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Conference
Foot planning motion of humanoid robot Rh-1 using Lag algorithm
Clawar 2007, Wednesday, 18 July, 2007, Singapore, Singapore M. Arbulu, D. Kaynov, L.M. Cabas, P. Staroverov, C. Balaguer |
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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 |
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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 |
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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 |
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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 |
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Conference
A Practical Decoupled Stabilizer for Joint-Position Controlled Humanoid Robots
The 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS '09), Tuesday, 13 October, 2009, St. Louis, USA D. Kaynov, P. Pierro, C. Balaguer |
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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 |
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Conference
Pose Control of the Humanoid Robot RH-1 for Mobile Manipulation
14th International Conference on Advanced Robotics (ICAR '09), Thursday, 25 June, 2009, Munich, Germany P. Pierro, C.A. Monje, C. Balaguer |
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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 |
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Conference
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), Thursday, 10 September, 2009, Istanbul, Turkey P. Pierro, C.A. Monje, C. Balaguer |
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Conference
On-line walking patterns generation for RH-1 Humanoid Robot using a simple three-dimensional inverted pendulum model
9th Internacional Conference on Climbing and Walking Robots (Clawar 2006), Sunday, 1 October, 2006, Brussels, Belgium M. Arbulu, D. Kaynov, C. Perez, L.M. Cabas, P. Staroverov, C. Balaguer |
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Conference
The Virtual COM Joints Approach for Whole-Body RH-1 Motion
18th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN '09), Tuesday, 29 September, 2009, Toyama , Japan P. Pierro, C.A. Monje, C. Balaguer |
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Conference
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), Wednesday, 9 December, 2009, Paris, France P. Pierro, C. Balaguer |
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Conference
A Human-Humanoid Interface for Collaborative Tasks
Second workshop for young researchers on Human-friendly robotics, Thursday, 3 December, 2009, Sestri Levante, Italy P. Pierro, M. González-Fierro, D. Hernandez, C. Balaguer |
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Conference
Modelling and Control of the Humanoid Robot RH-1 for Collaborative Tasks
IEEE RAS/RSJ Conference on Humanoids Robots, Monday, 1 December, 2008, Daejeon, Korea P. Pierro, C.A. Monje, C. Balaguer |
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Conference
Robots in future collaborative working environments
First workshop for young researchers on Human-friendly robotics, Friday, 24 October, 2008, Napoli, Italy P. Pierro |
