The humanoid robot Rh-0 (and its actualization Rh-1) is full size (1.3 m height, 21 DOF and about 50 kg weight) robot. The robot is equipped with two on-board CPUs and CAN bus communication system. Two batteries are also on-board which allows the 30 minutes of autonomy.
The sensorial system of the robot is divided in two parts: 1) sensors for locomotion (accelerometers and inclinometers) and 2) sensors for interaction (camera and microphones). The HMI of the robot can works thought the friendly-oriented menus of the central computer or via voice commands.
The control strategy of the robot is based on the Lie logic and PoE techniques. The robot?s gate is calculated in two phases: 1) by off-line dynamic gate generation using the developed VRT path planning module, and 2) by real-time modification of the gate using locomotion sensors feedback.
The stable locomotion experimentation of the robot had been made in several conditions (in-door: lab, corridor, and out-door: campus area of our university) and with several gates (straight line, turning, one food support gymnastic), etc. Motion movies
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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.
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C.Monje; P.Pierro; C.Balaguer. Humanoid Robot RH-1 for Collaborative Tasks. A Control Architecture for Human-Robot Cooperation. Applied Bionics and Biomechanics. Vol. 0. No. . pp.0-0. 2008.
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A.Jardón; A.Giménez; C.Castejon. Metodología de diseño óptimo para la construcción de robots de servicio. RUBIO, H. ; GARCÍA PRADA, A. ; CASTEJON, C.. Anales de Ingeniería Mecánica, ESPAÑA.. Vol. 2. No. 1. pp.1041-1046. 2008.
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M.G.Fierro; C.Monje; C.Balaguer. Robust Control of a Reduced Humanoid Robot Model using Genetic Algorithms and Fractional Calculus
. Mathematical Methods in Engineering International Conference MME2013. Porto. Portugal. Jul, 2013. |
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M.G.Fierro; C.Monje; V.Gonzalez; C.Balaguer. Evolutionary Fractional Order Control of a Humanoid Robot Modeled as a Triple Inverted Pendulum. Robocity2030 11th Workshop: Robots Sociales. Madrid. Spain. Mar, 2013. |
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M.G.Fierro; J. G. Bueno; C.Balaguer; L.Moreno. A Complete 3D Perception and Path Planning Architecture for a Humanoide. Robocity2030 11th Workshop: Robots Sociales. Madrid. Spain. Mar, 2013. |
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M.G.Fierro; D.Hernandez; P.Pierro; C.Balaguer. Dynamic Modelling of Humanoid Robots Using Spatial Algebra. XXXIII Jornadas de Automática. Vigo. Spain. Sep, 2012. |
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F.Rodríguez; M.F.Stoelen; A.Jardón. Sistema de visión Omnidireccional para robots humanoides. XXXIII Jornadas de Automática. Vigo. Spain. Sep, 2012. Actas de las XXXIII Jornadas de Automática. ISBN: 978-84-8158-583. Universidad de Vigo y CEA. pp.721-728. 2012. |
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J. G. Bueno; M.G.Fierro; L.Moreno; C.Balaguer. Facial gesture recognition and postural interaction using neural evolution algorithm and active appearance models. Robocity2030 9th Workshop. Robots colaborativos e interacción humano-robot. Madrid. Spain. May, 2011. . ISBN: 978-84-614-5558. . pp.145-159. 2011. |
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M.Arbulú; C.Balaguer. Aiming for multibody dynamics on stable humanoid motion with Special Euclideans groups, called SE(3) (Accepted). 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010). Taipei. Taiwan. Oct, 2010. |
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A.P.Mateo; M.G.Fierro; D.Hernandez; P.Pierro; C.Balaguer. Robust Real Time Stabilization: Estabilización de la imagen con aplicación en el robot humanoide HOAP-3. 7º Wokshop Robocity2030. Visión en robótica. Madrid. . Oct, 2010. |
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A.Peña; D.Hernandez; M.G.Fierro; P.Pierro; C.Balaguer. Sistema de visión del humanoide HOAP-3 para la detección e identificación de objetos mediante librerías Opencv. 7º Wokshop Robocity2030. Visión en robótica.. Madrid. . Oct, 2010. |
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M.Arbulú; C.Balaguer. MULTIBODY DYNAMICS ON STABLE HUMANOID MOTION WITH SPECIAL EUCLIDEANS GROUPS, CALLED SE(3) (Accepted). 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2010). . . Aug, 2010. |
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