Rh-0
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Updated: 7 June 2016 - 3:55pm by C. Balaguer
The full size 21 DOF humanoid robot of the University Carlos III of Madrid is an autonomous robot able to walk by different type of gaits in indoor and outdoor areas, and cooperates with humans and other robots in real collaborative working environments.
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
Journal Publications
Conference Publications
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Conference
Diseño Preliminar de Interfaces de Realidad Aumentada para el Robot Asistencial ASIBOT
[Online]
V Congreso Internacional de Diseño, Redes de Investigación y Tecnología para todos (DRT4ALL), Wednesday, 25 September, 2013, MADRID, Spain F. Rodriguez, J.G. Victores, A. Jardon, C. Balaguer |
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Conference
A Humanoid Robot Standing Up Through Learning from Demonstration Using a Multimodal Reward Function
IEEE-RAS International Conference on Humanoid Robots (Humanoids 2013), Tuesday, 1 October, 2013, Atlanta, USA M. González-Fierro, Nicola Swann, C. Balaguer, Thrishatha Nanayakkara |
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Conference
Cognitive Model Framework for Learning and Adaptation of Robot Skills to Task Constraints
RoboCity2030 12th Workshop: Robótica Cognitiva, Thursday, 4 July, 2013, Madrid, España D. Hernandez, C.A. Monje, C. Balaguer |
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Conference
Robust Control of a Reduced Humanoid Robot Model using Genetic Algorithms and Fractional Calculus
Mathematical Methods in Engineering International Conference MME2013, Thursday, 25 July, 2013, Porto, Portugal M. González-Fierro, C.A. Monje, C. Balaguer |
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Conference
Dynamic Modelling of Humanoid Robots Using Spatial Algebra
XXXIII Jornadas de Automática, Wednesday, 5 September, 2012, Vigo, Spain P. Pierro, M. González-Fierro, D. Hernandez, C. Balaguer |
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Conference
Sistema de visión Omnidireccional para robots humanoides [PDF]
XXXIII Jornadas de Automática, Wednesday, 5 September, 2012, Vigo, Spain F. Rodriguez, M.F. Stoelen, A. Jardon |
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Conference
Facial gesture recognition and postural interaction using neural evolution algorithm and active appearance models
Robocity2030 9th Workshop. Robots colaborativos e interacción humano-robot, Wednesday, 1 June, 2011, Madrid, Spain J.G. Bueno, M. González-Fierro, L. Moreno, C. Balaguer |
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Conference
Robust Real Time Stabilization: Estabilización de la imagen con aplicación en el robot humanoide HOAP-3
7º Wokshop Robocity2030. Visión en robótica, Friday, 15 October, 2010, Madrid, España M. González-Fierro, Ana Paula Mateo, D. Hernandez, P. Pierro, C. Balaguer |
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Conference
Sistema de visión del humanoide HOAP-3 para la detección e identificación de objetos mediante librerías Opencv
7º Wokshop Robocity2030. Visión en robótica., Friday, 15 October, 2010, Madrid, España D. Hernandez, Alberto Peña, M. González-Fierro, P. Pierro, C. Balaguer |
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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
Humanoid Teleoperation System for Space Environments
14th International Conference on Advanced Robotics (ICAR '09), Thursday, 25 June, 2009, Munich, Germany P. Pierro, M. González-Fierro, D. Hernandez, C. Balaguer |
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Conference
INVERSE DYNAMICS MODELLING FOR HUMANOID ROBOTS BASED IN LIE GROUPS AND SCREWS
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
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
CEABOT: Nationalwide Little humanoid robots competition; rules, experiences and new challenges
Intl. Conf. on SIMULATION, MODELING and PROGRAMMING for AUTONOMOUS ROBOTS, Tuesday, 4 November, 2008, Venice. , ITALY P. Zafra, A. Gimenez, S. Martinez, A. Jardon |
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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
Mechanical Calculations on a Humanoid Robot
9th Internacional Conference on Climbing and Walking Robots (Clawar 2006), Sunday, 1 October, 2006, Brussels, Belgium M. Arbulu, D. Kaynov, C. Perez, R. Cabas, L.M. Cabas, P. Staroverov, C. Balaguer |
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Conference
El proyecto europeo ROBOT@CWE: Advanced robotic systems in future collaborative working environments.
II Workshop de Robotica (ROBOT 2009), Monday, 23 November, 2009, Barcelona, Spain P. Pierro, M. González-Fierro, C. Balaguer |
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Conference
Industrial automation based approach to design control system of the humanoid robot
IEEE International Symposium on Industrial Electronics ISIE 2007, Monday, 4 June, 2007, Vigo, Spain D. Kaynov, C. Balaguer |
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Conference
Optimal gait synthesis of biped robot pasibot using artificial intelligence based predictive control
12th International Conference on Climbing and Walking Robots (Clawar'09), Wednesday, 9 September, 2009, Istanbul, J.G. Quijano, A. Jardon |
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Conference
Challenges in the design of the humanoid robot RH-1
9th Internacional Conference on Climbing and Walking Robots (Clawar 2006), Sunday, 1 October, 2006, Brussels, Belgium M. Arbulu, D. Kaynov, C. Perez, R. Cabas, L.M. Cabas, P. Staroverov, C. Balaguer |
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Conference
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), Monday, 18 October, 2010, Taipei, Taiwan M. Arbulu, S. Martinez, A. Jardon, C.A. Monje, C. Balaguer |
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Conference
Real -Time gait planning for Rh-1 humanoid robot, using Local Axis Gait algorithm
IEEE-RAS International Conference on Humanoid Robots (Humanoids'2007), Thursday, 29 November, 2007, Pittsburg-Pensi, USA M. Arbulu, 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
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), Tuesday, 31 August, 2010, -, M. Arbulu, C. Balaguer |
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Conference
Joint Control of a Humanoid Robot
IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2007), Thursday, 29 November, 2007, Pittsburgh, USA D. Kaynov, 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
A Voice Controlled Image Recognition System
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
Arquitectura de control para la marcha dinámica de los robots humanoides. Aplicación al robot Rh-1
Workshop. Arquitecturas de control para robots, Thursday, 1 February, 2007, Madrid, Spain M. Arbulu, D. Kaynov, 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
Control Architecture for the dynamic humanoid robot walking. Application to the RH-1 robot
9th Internacional Conference on Climbing and Walking Robots (Clawar 2006), Sunday, 1 October, 2006, Brussels, Belgium M. Arbulu, D. Kaynov, C. Perez, P. Staroverov, C. Balaguer |
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Conference
K., Yokoi, A., Kheddar, C., BalaguerDynamic acyclic motion from a planar contact-stance to another
IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, Monday, 22 September, 2008, Nice, France M. Arbulu |
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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
Detecting sound sources with the humanoid robot Rh-1
Clawar 2007 , Monday, 16 July, 2007, Singapore, Singapore M. Arbulu, D. Kaynov, L.M. Cabas, P. Staroverov, C. Balaguer |
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Conference
RH-2 an Upgraded full-size humanoid platform
12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR '09), Thursday, 10 September, 2009, Istanbul, Turkey M. Arbulu, L.A. Pabon, P. Pierro, C. Perez, S. Martinez, C. Balaguer |
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Conference
Software and communication infrastructure design of the Humanoid
Clawar 2007, Tuesday, 17 July, 2007, Singapore, Singapore M. Arbulu, D. Kaynov, 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
Creating a gesture recognition system based on shirt shapes
Clawar 2007, Monday, 16 July, 2007, Singapore, Singapore M. Arbulu, D. Kaynov, L.M. Cabas, P. Staroverov, 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
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
Evolutionary Fractional Order Control of a Humanoid Robot Modeled as a Triple Inverted Pendulum
Robocity2030 11th Workshop: Robots Sociales, Thursday, 14 March, 2013, Madrid, Spain V. Gonzalez Pacheco, M. González-Fierro, 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 |
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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
A Complete 3D Perception and Path Planning Architecture for a Humanoide
Robocity2030 11th Workshop: Robots Sociales, Thursday, 14 March, 2013, Madrid, Spain J.G. Bueno, M. González-Fierro, L. Moreno, C. Balaguer |
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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 |
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Conference
Control de la caminata del robot humanoide RH-1
XXIX Jornadas de Automática, Wednesday, 3 September, 2008, Tarragona, Spain M. Arbulu, D. Kaynov, L.A. Pabon, P. Pierro, C. Perez, P. Staroverov, C.A. Monje, C. Balaguer |
Patents
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Patent
Three axis tactile sensor SENSOR TÁCTIL DE TRES EJES
. ref: P200901904. . 2009, S. Martinez, C. Perez, A. Jardon, C. Balaguer |
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Patent
Mecanismo de ajuste de la fuerza de pretensión en sistemas de transmisión correa-polea
. ref: EP09382035.5. . 2009, L.A. Pabon, A. Jardon, C. Balaguer |
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Patent
Pointer device (DISPOSITIVO INDICADOR)
. ref: P2000803615. . 2009, A. Jardon, C. Balaguer, R. Palencia |
Books
Doctoral Thesis
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Thesis
Stable locomotion of humanoid robots based on mass concentrated model
, 2009 M. Arbulu |
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Thesis
Open Motion Control Architecture for Humanoid Robots
, 2009 D. Kaynov |