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

Author

Arbulú, Mario ; Pardos, José M. ; Cabas, Luis ; Staroverov, P. ; Kaynov, Dmitry ; Perez, Carlos ; Rodriguez, Miguel ; Balaguer, Carlos

Author_Institution

Dept. of Syst. Eng. & Autom., University Carlos III, Madrid

fYear

2005

fDate

5-5 Dec. 2005

Firstpage

271

Lastpage

276

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 40 kg 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

humanoid robots; legged locomotion; robot kinematics; 1.350 mm; 40 kg; Lie logic technique; Paden-Kahan sub-problem techniques; Rh-0 humanoid robot; distributed dual CAN bus system; kinematics control strategy; product of exponentials; robot kinematics; sagital kinematics division algorithm; Arm; Elbow; Hip; Humanoid robots; Knee; Leg; Logic; Robot control; Shoulder; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Humanoid Robots, 2005 5th IEEE-RAS International Conference on

Conference_Location

Tsukuba

Print_ISBN

0-7803-9320-1

Type

conf

DOI

10.1109/ICHR.2005.1573579

Filename

1573579