Pose Control of the Humanoid Robot RH-1 for Mobile Manipulation

被引：0
|
作者：
Monje, Concepcion A. [1 ]
Pierro, Paolo [1 ]
Balaguer, Carlos [1 ]
机构：
[1] Univ Carlos III Madrid, Madrid 28911, Spain
来源：
ICAR: 2009 14TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, VOLS 1 AND 2 | 2009年
关键词：
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper presents an advanced control architecture for the full-scale humanoid robot RH-1. The pose control of the prototype is aimed in order to achieve mobile manipulation in collaborative working environments where humans and robots must share the same tasks and space. The kinematic model and a simplified dynamic model of the robot are given. All the models and algorithms are verified by several simulations and from experimental results.
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页码：111 / 116
页数：6
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