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

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