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

被引：0

作者：

Arbulú, M ^{[1
]}

Pardos, JM ^{[1
]}

Cabas, L ^{[1
]}

Staroverov, P ^{[1
]}

Kaynov, D ^{[1
]}

Pérez, C ^{[1
]}

Rodríguez, M ^{[1
]}

Balaguer, C ^{[1
]}

机构：

[1] Univ Carlos III Madrid, Robot Lab, Dept Syst Engn & Automat, Madrid 28911, Spain

来源：

2005 5TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS | 2005年

关键词：

humanoid robot; biped locomotion; gait; ZMP; Lie groups;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：271 / 276

页数：6

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