Advanced motion control system for the humanoid robot Rh-0

被引：0

作者：

Kaynov, D. ^{[1
]}

Rodriguez, M. A. ^{[1
]}

Arbulu, M. ^{[1
]}

Staroverov, P. ^{[1
]}

Cabas, L. ^{[1
]}

Balaguer, C. ^{[1
]}

机构：

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

来源：

CLIMBING AND WALKING ROBOTS | 2006年

关键词：

humanoid robots; motion control; Rh-0;

D O I：

10.1007/3-540-26415-9_54

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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 provide's 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.

引用

页码：449 / 456

页数：8

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