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Humanoids

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.

Leroy

Entries:
TEO: Full-size humanoid robot design powered by a fuel cell system
An International Journal on Cybernetics and Systems . num. 3 , vol. 43 , pages: 163 – 180 , 2012
P. Pierro S. Martinez A. Jardon C.A. Monje
A model-free approach for accurate joint motion control in humanoid locomotion
International Journal of Humanoid Robotics. num. 1 , vol. 8 , 2011
J. Villagra
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. num. 1 , vol. 6 , pages: 71 – 91 , 2009
M. Arbulu
The Rh-1 full-size humanoid robot: design, walking pattern generation and control
Journal of Applied Bionics and Biomechanics (Print ISSN: 1176-2322, Online: ISSN: 1754-2103). num. 3 , vol. 6 , pages: 301 – 344 , 2009
M. Arbulu D. Kaynov L.M. Cabas
European humanoid robotics program
Clawar news. , vol. 9 , pages: 13 – 14 , 2002

Entries:
K., Yokoi, A., Kheddar, C., Balaguer<br>Dynamic acyclic motion from a planar contact-stance to another
IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, Nice, France
M. Arbulu
A Practical Decoupled Stabilizer for Joint-Position Controlled Humanoid Robots
The 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS '09), St. Louis, USA
D. Kaynov P. Pierro
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), 2008, Coimbra, Portugal
M. Arbulu
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), 2008, Coimbra, Portugal
M. Arbulu
Robots in future collaborative working environments
First workshop for young researchers on Human-friendly robotics, Napoli, Italy
P. Pierro
Humanoid Teleoperation System for Space Environments
14th International Conference on Advanced Robotics (ICAR '09), 2009, Munich, Germany
P. Pierro M. González-Fierro D. Hernandez
Optimal gait synthesis of biped robot pasibot using artificial intelligence based predictive control
12th International Conference on Climbing and Walking Robots (Clawar'09), Istanbul,
J.G. Quijano A. Jardon
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), Paris, France
P. Pierro
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), Istanbul, Turkey
M. Arbulu L.A. Pabon P. Pierro C. Perez S. Martinez
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), Istanbul, Turkey
P. Pierro C.A. Monje
El proyecto europeo ROBOT@CWE: Advanced robotic systems in future collaborative working environments.
II Workshop de Robotica (ROBOT 2009), Barcelona, Spain
P. Pierro M. González-Fierro
A Human-Humanoid Interface for Collaborative Tasks
Second workshop for young researchers on Human-friendly robotics, Sestri Levante, Italy
P. Pierro M. González-Fierro D. Hernandez
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), -,
M. Arbulu
Sistema de visión del humanoide HOAP-3 para la detección e identificación de objetos mediante librerías Opencv
7º Wokshop Robocity2030. Visión en robótica., 2010, Madrid, España
D. Hernandez M. González-Fierro P. Pierro C. Balaguer Alberto Peña
Control de la caminata del robot humanoide RH-1
XXIX Jornadas de Automática, Tarragona, Spain
M. Arbulu D. Kaynov L.A. Pabon P. Pierro C. Perez P. Staroverov C.A. Monje
Pose Control of the Humanoid Robot RH-1 for Mobile Manipulation
14th International Conference on Advanced Robotics (ICAR '09), Munich, Germany
P. Pierro C.A. Monje
Facial gesture recognition and postural interaction using neural evolution algorithm and active appearance models
Robocity2030 9th Workshop. Robots colaborativos e interacción humano-robot, 2011, Madrid, Spain
J.G. Bueno M. González-Fierro L. Moreno
Sistema de visión Omnidireccional para robots humanoides <a target="_blank" href="http://asrob.uc3m.es/images/1/15/JA12VigoPaper.pdf" rel="noopener">[PDF]</a>
XXXIII Jornadas de Automática, 2012, Vigo, Spain
F. Rodriguez M.F. Stoelen A. Jardon
Facial Gesture Recognition using Active Appearance Models based on Neural Evolution
2012 Conference on Human-Robot Interaction (HRI 2012), 2012, Boston, USA
J.G. Bueno M. González-Fierro L. Moreno
Modelling and simulation of the humanoid robot HOAP-3 in the OpenHRP3 platform
Workshop Robots Humanoides. Robot 2011, Sevilla, Spain
P. Pierro T. Ramos M. González-Fierro C.A. Monje
Aiming for Multibody Dynamics on Stable Humanoid Motion with Special Euclidean Groups
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS’2010, 2010, Taipei, China
M. Arbulu S. Martinez A. Jardon C.A. Monje
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
M. Arbulu S. Martinez A. Jardon C.A. Monje
Dynamic Modelling of Humanoid Robots Using Spatial Algebra
XXXIII Jornadas de Automática, 2012, Vigo, Spain
P. Pierro M. González-Fierro D. Hernandez
A Complete 3D Perception and Path Planning Architecture for a Humanoide
Robocity2030 11th Workshop: Robots Sociales, Madrid, Spain
J.G. Bueno M. González-Fierro L. Moreno
Modelling and Control of the Humanoid Robot RH-1 for Collaborative Tasks
IEEE RAS/RSJ Conference on Humanoids Robots, Daejeon, Korea
P. Pierro C.A. Monje
Capítulo: “Realización de tareas colaborativas entre robots humanoides. Experimentación con dos robots Robonova”
At Proceedings of the V Workshop ROBOCITY2030. Cooperación en Robótica, 2009, Madrid, Spain
D. Herrero P. Pierro A. Jardon
Robust Control of a Reduced Humanoid Robot Model using Genetic Algorithms and Fractional Calculus
Mathematical Methods in Engineering International Conference MME2013, 2013, Porto, Portugal
M. González-Fierro C.A. Monje
Cognitive Model Framework for Learning and Adaptation of Robot Skills to Task Constraints
RoboCity2030 12th Workshop: Robótica Cognitiva, 2013, Madrid, España
D. Hernandez C.A. Monje
Evolutionary Fractional Order Control of a Humanoid Robot Modeled as a Triple Inverted Pendulum
Robocity2030 11th Workshop: Robots Sociales, Madrid, Spain
V. Gonzalez Pacheco M. González-Fierro C.A. Monje
The Virtual COM Joints Approach for Whole-Body RH-1 Motion
18th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN '09), Toyama , Japan
P. Pierro C.A. Monje
Real -Time gait planning for Rh-1 humanoid robot, using Local Axis Gait algorithm
IEEE-RAS International Conference on Humanoid Robots (Humanoids'2007), Pittsburg-Pensi, USA
M. Arbulu
Humanoid Robot Kinematics Modeling Using Lie Groups
7th International Conference on Climbing and Walking Robots (Clawar'2004), Madrid, Spain
J. M. Pardos-Gotor
The current state of robotics: post or pre-robotics?
3rd IARP Workshop on Service, Assistive and Personal Robots, Madrid, Spain
M.A. Salichs
Humans-humanoid robots interaction
CLAWAR Workshop on Education, Training, Working Conditions and SafetyLugar de celebración: Arganda del Rey, Madrid (España)Fecha: 2002, Madrid, Spain
Advanced motion control system for the humanoid robot Rh-0
8th International Conference on Climbing and Walking Robots (Clawar 2005), London, United Kingdom
M. Arbulu D. Kaynov P. Staroverov
T-Shirt Based Image Recognition System
2010, London, United Kingdom
M. Arbulu D. Kaynov P. Staroverov C. Balaguer
Software and communication infrastructure design of the Humanoid
Clawar 2007, Singapore, Singapore
M. Arbulu D. Kaynov L.M. Cabas P. Staroverov
Creating a gesture recognition system based on shirt shapes
Clawar 2007, Singapore, Singapore
M. Arbulu D. Kaynov L.M. Cabas P. Staroverov
Detecting sound sources with the humanoid robot Rh-1
Clawar 2007 , Singapore, Singapore
M. Arbulu D. Kaynov L.M. Cabas P. Staroverov
EU Humanoid Robots. What is the next step?
5th International Conference on Climbing and Walking Robots (CLAWAR?02), 2014, Paris, France
Lie Groups and Lie Algebras in Robotics.
University Carlos III of Madrid – ROBOTICSLAB SEMINAR., Madrid, Spain
J. M. Pardos-Gotor
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
J. M. Pardos-Gotor
Inverse Dynamics of Humanoid Robot by Balanced Mass Distribution Method
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2004), 2004, Sendai, Japan
M. Arbulu
User friendly graphical environment for gait optimization of the humanoid robot Rh-0
7tn International Conference on Climbing and Walking Robots (Clawar'2004), 2004, Madrid, Spain
M. Arbulu P. Staroverov
Fast algorithm for kinematics problems solving of the low-cost legged robot LEROI
Clawar 2002, 2002, Paris, France
M. Arbulu P. Staroverov
Mechanical design and dynamic analysis of the humanoidrobot Rh-0
8th International Conference on Climbing and Walking Robots (Clawar 2005), London, United Kingdom
M. Arbulu D. Kaynov R. Cabas P. Staroverov
Joint Control of a Humanoid Robot
IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2007), Pittsburgh, USA
D. Kaynov
Human Machine Interface for Humanoid Robot Rh-0
7th International Conference on Climbing and Walking Robots (Clawar'2004), Madrid, Spain
Development of the light-weight human size humanoid robot Rh-0
7th International Conference on Climbing and Walking Robots (Clawar'2004), 2004, Madrid, Spain
M. Arbulu
ZMP Human Measure System
8th International Conference on Climbing and Walking Robots (Clawar'2005), London, United Kingdom
M. Arbulu D. Kaynov P. Staroverov
Challenges in the design of the humanoid robot RH-1
9th Internacional Conference on Climbing and Walking Robots (Clawar 2006), Brussels, Belgium
M. Arbulu D. Kaynov C. Perez R. Cabas L.M. Cabas P. Staroverov
Mechanical Calculations on a Humanoid Robot
9th Internacional Conference on Climbing and Walking Robots (Clawar 2006), Brussels, Belgium
M. Arbulu D. Kaynov C. Perez R. Cabas L.M. Cabas P. Staroverov
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), Brussels, Belgium
M. Arbulu D. Kaynov C. Perez L.M. Cabas P. Staroverov
A Voice Controlled Image Recognition System
9th Internacional Conference on Climbing and Walking Robots (Clawar 2006), Brussels, Belgium
M. Arbulu D. Kaynov C. Perez L.M. Cabas P. Staroverov
Rh-0 humanoid full size robot`s control strategy based on the Lie logic technique
IEEE-RAS International Conference on Humanoid Robots (Humanoids'2005), 2005, Tsukuba, Japan
M. Arbulu D. Kaynov J. M. Pardos-Gotor P. Staroverov
Control Architecture for the dynamic humanoid robot walking. Application to the RH-1 robot
9th Internacional Conference on Climbing and Walking Robots (Clawar 2006), Brussels, Belgium
M. Arbulu D. Kaynov C. Perez P. Staroverov
Arquitectura de control para la marcha dinámica de los robots humanoides. Aplicación al robot Rh-1
Workshop. Arquitecturas de control para robots, Madrid, Spain
M. Arbulu D. Kaynov
Industrial automation based approach to design control system of the humanoid robot
IEEE International Symposium on Industrial Electronics ISIE 2007, Vigo, Spain
D. Kaynov
Nuevas tendencias en plataformas de robótica, caso robot humanoide Rh-1
Intercon 2007XIV Congreso Internacional de Ingeniería Eléctrica, Electrónica y Sistemas, 2007, Piura, Peru
M. Arbulu D. Kaynov L.M. Cabas P. Staroverov
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, 2007, Bogota, Colombia
M. Arbulu D. Kaynov L.M. Cabas P. Staroverov
Foot planning motion of humanoid robot Rh-1 using Lag algorithm
Clawar 2007, 2007, Singapore, Singapore
M. Arbulu D. Kaynov L.M. Cabas P. Staroverov

Entries:
Pointer device (DISPOSITIVO INDICADOR)
ref: P2000803615. 2009
A. Jardon R. Palencia
Alojamiento para transmisión armónica de engranajes, sistema reductor-amplificador de velocidad, sistema moto-reductor y método para reducir la velocidad de un motor
ref: P200900927. 2009
L.A. Pabon M. Arbulu
Three axis tactile sensor SENSOR TÁCTIL DE TRES EJES
ref: P200901904. 2009
S. Martinez C. Perez A. Jardon
Alojamiento para transmisión armónica de engranajes, sistema reductor-amplificador de velocidad, sistema moto-reductor y método para reducir la velocidad de un motor
ref: P200900927. 2009
A. Jardon C. Balaguer M. Arbulu L.A. Pabon
Mecanismo de ajuste de la fuerza de pretensión en sistemas de transmisión correa-polea
ref: EP09382035.5. 2009
L.A. Pabon A. Jardon

Entries:
Open Motion Control Architecture for Humanoid Robots
, 2009
D. Kaynov
Stable locomotion of humanoid robots based on mass concentrated model
, 2009
M. Arbulu
Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration
Universidad Carlos III de Madrid , 2014
D. Hernandez
Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration
Universidad Carlos III , 2014
M. González-Fierro
Object Oriented Control System in Humanoid Robots for Transport Tasks
University Carlos III of Madrid , 2020

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