Rh-0 humanoid full size robot's control strategy based on the Lie logic technique

Mario Arbulú; José M. Pardos; Luis Cabas; Pavel Staroverov; Dmitry Kaynov; Carlos Pérez; Miguel Rodriguez; Carlos Balaguer

doi:10.1109/ICHR.2005.1573579

Rh-0 humanoid full size robot's control strategy based on the Lie logic technique

Mario Arbulú, José M. Pardos, Luis Cabas, Pavel Staroverov, Dmitry Kaynov, Carlos Pérez, Miguel Rodriguez, Carlos Balaguer

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Scopus citations

Abstract

This paper presents the experimental results of the full size Rh-0 humanoid robot developed by the University Carlos III of Madrid. The robot has 21 DOF, 1.350 mm height and 40kg weight including the on-board batteries and hardware. The robot's control architecture is formed by the distributed dual CAN bus system. The bus is used for joints' control and supervision, and also for sensing different global robots features. The key innovation is the kinematics control strategy based on the Lie logic technique. Using the Product of Exponentials (PoE) and the Paden-Kahan sub-problem techniques, the Sagital Kinematics Division (SKD) algorithm for robot's kinematics control had been implemented. The results of this implementation are shown in the final part of the paper.

Original language	English
Title of host publication	Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots
Pages	271-276
Number of pages	6
DOIs	https://doi.org/10.1109/ICHR.2005.1573579
State	Published - 2005
Externally published	Yes
Event	2005 5th IEEE-RAS International Conference on Humanoid Robots - Tsukuba, Japan Duration: Dec 5 2005 → Dec 7 2005

Publication series

Name	Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots
Volume	2005

Conference

Conference	2005 5th IEEE-RAS International Conference on Humanoid Robots
Country/Territory	Japan
City	Tsukuba
Period	12/5/05 → 12/7/05

Keywords

Biped locomotion
Gait
Humanoid robot
Lie groups
ZMP

Access to Document

10.1109/ICHR.2005.1573579

Cite this

Arbulú, M., Pardos, J. M., Cabas, L., Staroverov, P., Kaynov, D., Pérez, C., Rodriguez, M., & Balaguer, C. (2005). Rh-0 humanoid full size robot's control strategy based on the Lie logic technique. In Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots (pp. 271-276). Article 1573579 (Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots; Vol. 2005). https://doi.org/10.1109/ICHR.2005.1573579

@inproceedings{a004eaad9e964ab4a082af948e0ccd5a,

title = "Rh-0 humanoid full size robot's control strategy based on the Lie logic technique",

abstract = "This paper presents the experimental results of the full size Rh-0 humanoid robot developed by the University Carlos III of Madrid. The robot has 21 DOF, 1.350 mm height and 40kg weight including the on-board batteries and hardware. The robot's control architecture is formed by the distributed dual CAN bus system. The bus is used for joints' control and supervision, and also for sensing different global robots features. The key innovation is the kinematics control strategy based on the Lie logic technique. Using the Product of Exponentials (PoE) and the Paden-Kahan sub-problem techniques, the Sagital Kinematics Division (SKD) algorithm for robot's kinematics control had been implemented. The results of this implementation are shown in the final part of the paper.",

keywords = "Biped locomotion, Gait, Humanoid robot, Lie groups, ZMP",

author = "Mario Arbul{\'u} and Pardos, {Jos{\'e} M.} and Luis Cabas and Pavel Staroverov and Dmitry Kaynov and Carlos P{\'e}rez and Miguel Rodriguez and Carlos Balaguer",

year = "2005",

doi = "10.1109/ICHR.2005.1573579",

language = "English",

isbn = "0780393201",

series = "Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots",

pages = "271--276",

booktitle = "Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots",

note = "2005 5th IEEE-RAS International Conference on Humanoid Robots ; Conference date: 05-12-2005 Through 07-12-2005",

}

Arbulú, M, Pardos, JM, Cabas, L, Staroverov, P, Kaynov, D, Pérez, C, Rodriguez, M & Balaguer, C 2005, Rh-0 humanoid full size robot's control strategy based on the Lie logic technique. in Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots., 1573579, Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots, vol. 2005, pp. 271-276, 2005 5th IEEE-RAS International Conference on Humanoid Robots, Tsukuba, Japan, 12/5/05. https://doi.org/10.1109/ICHR.2005.1573579

Rh-0 humanoid full size robot's control strategy based on the Lie logic technique. / Arbulú, Mario; Pardos, José M.; Cabas, Luis et al.
Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots. 2005. p. 271-276 1573579 (Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Arbulú, Mario

AU - Pardos, José M.

AU - Cabas, Luis

AU - Staroverov, Pavel

AU - Kaynov, Dmitry

AU - Pérez, Carlos

AU - Rodriguez, Miguel

AU - Balaguer, Carlos

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AB - This paper presents the experimental results of the full size Rh-0 humanoid robot developed by the University Carlos III of Madrid. The robot has 21 DOF, 1.350 mm height and 40kg weight including the on-board batteries and hardware. The robot's control architecture is formed by the distributed dual CAN bus system. The bus is used for joints' control and supervision, and also for sensing different global robots features. The key innovation is the kinematics control strategy based on the Lie logic technique. Using the Product of Exponentials (PoE) and the Paden-Kahan sub-problem techniques, the Sagital Kinematics Division (SKD) algorithm for robot's kinematics control had been implemented. The results of this implementation are shown in the final part of the paper.

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Arbulú M, Pardos JM, Cabas L, Staroverov P, Kaynov D, Pérez C et al. Rh-0 humanoid full size robot's control strategy based on the Lie logic technique. In Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots. 2005. p. 271-276. 1573579. (Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots). doi: 10.1109/ICHR.2005.1573579

Rh-0 humanoid full size robot's control strategy based on the Lie logic technique

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