Updated: 1 June 2016 - 3:51pm by C. Balaguer

Humanoid robots program of the RoboticsLab started on 2001 by developing the 7 DOF bipedal robot Leroy. Since 2002 Rh-0 project, and later Rh-1 one, had the objective of development a 21 DOF full size robot.

The research topics of the RoboticsLab humanoid team include: kinematics & dynamics control, gait generation & path planning, Lie logic-based control algorithms, humanoid robots VR simulator, sensory-based head, low-weight dexterous hand, cooperative working environments, etc.

Journal Publications

Conference Publications



Doctoral Thesis