Title :
Pose control of the humanoid robot RH-1 for mobile manipulation
Author :
Monje, Concepcion A. ; Pierro, Paolo ; Balaguer, Carlos
Author_Institution :
Univ. Carlos III of Madrid, Leganes, Spain
Abstract :
This paper presents an advanced control architecture for the full-scale humanoid robot RH-1. The pose control of the prototype is aimed in order to achieve mobile manipulation in collaborative working environments where humans and robots must share the same tasks and space. The kinematic model and a simplified dynamic model of the robot are given. All the models and algorithms are verified by several simulations and from experimental results.
Keywords :
humanoid robots; manipulator kinematics; mobile robots; position control; advanced control architecture; collaborative working environments; full-scale humanoid robot RH-1; mobile manipulation; pose control; robot kinematic model; Collaboration; Collaborative work; Communication system control; Humanoid robots; Humans; Kinematics; Leg; Manipulators; Robot sensing systems; Stability;
Conference_Titel :
Advanced Robotics, 2009. ICAR 2009. International Conference on
Conference_Location :
Munich
Print_ISBN :
978-1-4244-4855-5
Electronic_ISBN :
978-3-8396-0035-1
