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Advanced Motion Control System for the Humanoid Robot Rh-0

  • Conference paper
Climbing and Walking Robots

Abstract

This paper presents an advanced motion control system for the Rh-0 humanoid robot. Rh-0 is a humanoid platform which we developed on the first phase of the Rh project, which was launched by the Robotics Lab at the University Carlos III of Madrid in 2002. The motion control system of Rh-0 is based on standard commercial available hardware components. It provides scalability, modularity and application of standardized interfaces. As a result, easy upgrade and further development of reduced weight humanoid robot is possible. In this paper the hardware system, control level software and experimental results are discussed.

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References

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Author information

Authors and Affiliations

  1. Robotics Lab, Department of Systems Engineering and Automation, University Carlos III of Madrid, Spain

    D. Kaynov, M. A. Rodríguez, M. Arbulú, P. Staroverov, L. Cabas & C. Balaguer

Authors
  1. D. Kaynov
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  2. M. A. Rodríguez
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  3. M. Arbulú
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  4. P. Staroverov
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  5. L. Cabas
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  6. C. Balaguer
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Editor information

Editors and Affiliations

  1. Department of Automatic Control and, System Engineering, University Sheffield, Mappin Street, S1 3JD, Sheffield, UK

    M. O. Tokhi

  2. Department of Mechanical Engineering, University Leeds, LS2 9JT, Leeds, UK

    G. S. Virk

  3. Department of Computing, University of Bradford, Richmond Road, BD7 1DP, Bradford, UK

    M. A. Hossain

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© 2006 Springer-Verlag Berlin Heidelberg

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Kaynov, D., Rodríguez, M.A., Arbulú, M., Staroverov, P., Cabas, L., Balaguer, C. (2006). Advanced Motion Control System for the Humanoid Robot Rh-0. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_54

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  • DOI: https://doi.org/10.1007/3-540-26415-9_54

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-26413-2

  • Online ISBN: 978-3-540-26415-6

  • eBook Packages: EngineeringEngineering (R0)

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