Humanoid robot RH-1 for collaborative tasks: a control architecture for human-robot cooperation

Abstract

The full-scale humanoid robot RH-1 has been totally developed in the University Carlos III of Madrid. In this paper we present an advanced control system for this robot so that it can perform tasks in cooperation with humans. The collaborative tasks are carried out in a semi-autonomous way and are intended to be put into operation in real working environments where humans and robots should share the same space. Before presenting the control strategy, the kinematic model and a simplified dynamic model of the robot are presented. All the models and algorithms are verified by several simulations and experimental results.

Keywords:

• humanoid robot RH-1
• modelling and control
• human-robot collaborative tasks
• virtual reality model

Acknowledgment

This work has been supported by the CYCIT Project PI2004-00325 and the European Project Robot@CWE FP6-2005-IST-5, both developed within the research team Robotics Lab in the University Carlos III of Madrid.