The Rh-1 full-size humanoid robot: Design, walking pattern generation and control

References

• Abraham , R A and Marsden , J E . 1999 . Foundations of Mechanics, , Second Edition , Redwood City, CA : Addison-Wesley Publishing Company, Inc. .
   Google Scholar
• Arbulú , M and Balaguer , C . . Real-time gait planning for Rh-1 humanoid robot, using local axis gait algorithm . Paper presented at: 7th IEEE-RAS International Conference on Humanoid Robots . Nov. 29–Dec. 27 2007 , Pittsburgh, USA.
   Google Scholar
• Arbulú , M and Balaguer , C . 2009 . Real-time gait planning for Rh-1 humanoid robot, using local axis gait algorithm . IJHR , 6 ( 1 ) : 71 – 91 . Print ISSN: 0219-8436. Online ISSN: 1793-6942
   Google Scholar
• Arbulú , M , Cabas , L M , Staroverov , P , Kaynov , D , Pérez , C and Balaguer , C . . On-line walking patterns generation for Rh-1 humanoid robot using a simple three-dimensional inverted pendulum model . Paper presented at: 9th Internacional Conference on Climbing and Walking Robots (Clawar 2006) . Sep 2006 , Brussels, Belgium.
   Google Scholar
• Arbulú , M , Pardos , J M , Cabas , L M , Staroverov , P , Kaynov , D , Pérez , C , Rodríguez , M A and Balaguer , C . . Rh-0 humanoid full size robot's control strategy based on the Lie logic technique . Paper presented at: IEEE-RAS International Conference on Humanoid Robots (Humanoids 2005) . Dec 2005 , Tsukuba, Japan.
   Google Scholar
• Arbulú , M , Prieto , F , Cabas , L , Staroverov , P , Kaynov , D and Balaguer , C . . ZMP human measure system . Proceedings of 8th International Conference on Climbing and Walking Robots (Clawar 2005) . Sep 2005 , London, United Kingdom.
   Google Scholar
• Ayyappa , E . 1997 . Normal human locomotion, part 1: basic concepts and terminology . J Prosthet Orthot. , 9 ( 1 ) : 10 – 17 .
   Google Scholar
• Baerveldt , A-J and Klang , R . . A low-cost and low-weight attitude estimation system for an autonomous helicopter . Proceedings of IEEE International Conference on Intelligent Engineering Systems . pp. 391 – 391 .
   Google Scholar
• Bicchi , A , Tonietti , G and Schiavi , R . . Safe and fast actuators for machines interacting with humans . Proceedings of the 1st Technical Exhibition Based Conference on Robotics and Automation, TExCRA2004 . Nov 18–19 2004 . Tokyo, , Japan : TEPIA .
   Google Scholar
• Cabas , L M , Cabas , R , Staroverov , P , Arbulú , M , Kaynov , D , Pérez , C and Balaguer , C . . Challenges in the design of the humanoid robot RH-1 . Paper presented at: 9th Internacional Conference on Climbing and Walking Robots (Clawar 2006) . Sep 2006 , Brussels. Belgium.
   Google Scholar
• Cabas , L M , Cabas , R , Staroverov , P , Arbulú , M , Kaynov , D , Pérez , C and Balaguer , C . . Mechanical calculations on a humanoid robot . Paper presented at: 9th Internacional Conference on Climbing and Walking Robots (Clawar 2006) . Sep 2006 , Brussels. Belgium.
   Google Scholar
• Cabas , L , de Torre , S , Prieto , I , Arbulú , M and Balaguer , C . . Development of the lightweight human-size humanoid robot RH-0 . Paper presented at: 7th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2004) . Sep 22–24 2004 , Madrid, Spain.
   Google Scholar
• Fujimoto , Y , Obata , S and Kawamura , A . . Robust biped walking with active interaction control between foot and ground . Proceedings of IEEE International Conference on Robotics and Automation . Leuven, Belgium. pp. 2030 – 2035 . 3(16–20)
   Google Scholar
• Furusho , J and Sano , A . 1990 . Sensor-based control of a nine-link BIPED . Int J Robot Res. , 9 ( 2 ) : 83 – 98 .
   Web of Science ®Google Scholar
• Gienger , M , Löffler , K and Pfeifer , F . 2001 . Towards the design of biped jogging robot . In: Proceedings of IEEE International Conference on Robotics and Automation. , 4 : 4140 – 4145 .
   Google Scholar
• Hirai , K , Hirose , M , Hikawa , Y and Takanaka , T . . The development of Honda humanoid robot . Paper presented at IEEE International Conference on Robotics and Automation (ICRA 1998) . Leuven, Belgium. pp. 1321 – 1326 .
   Google Scholar
• Hirukawa , H , Hattori , S , Kajita , S , Harada , K , Kaneko , K , Kanehiro , F , Morisawa , M and Nakaoka , S . . A pattern generator of humanoid robots walking on a rough terrain . IEEE International Conference on Robotics and Automation . Apr 10–14 , Roma, Italy. pp. 2781 – 2187 . ISSN: 1050-4729, ISBN: 1-4244-0601-3, INSPEC accession number: 9561669
   Google Scholar
• Huang , Q , Kaneko , K , Yokoi , K , Kajita , S , Kotoku , T , Koyachi , N , Arai , H , Imamura , N , Komoriya , K and Tanie , K . 2000 . Balance control of a biped robot combining off-line pattern with real-time modification . In: Proceedings of IEEE International Conference on Robotics and Automation Apr 2000, Budapest, Hungary. , 4 ( 14 ) : 3346 – 3352 .
   Google Scholar
• Loeffler , K , Gienger , M , Pfeiffer , F and Ulbrich , H . 2004 . Sensors and control concept of a biped robot . IEEE T Ind Electron , 51 : 1 – 9 .
   Web of Science ®Google Scholar
• Löffler , K , Giender , M and Pfeifer , F . . Sensors and control design of a dynamically stable biped robot . Proceedings of IEEE International Conference on Robotics and Automation . 2003 . pp. 484 – 490 .
   Google Scholar
• Lohmeier , S , Buschmann , T , Ulbrich , H and Pfeiffer , F . . Modular joint design for performance enhanced humanoid robot LOLA . Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2006) . pp. 88 – 93 .
   Google Scholar
• Kajita , S , Kanehiro , F , Kaneko , K , Fujiwara , K , Harada , K , Yokoi , K and Hirukawa , H . . Biped walking pattern generation by using preview control of zero-moment point . IEEE International Conference on Robotics Automation . Sep 14–19 2003 , Taipei, Taiwan. pp. 162 – 1626 .
   Google Scholar
• Kajita , S , Kaneiro , F , Kaneko , K , Fujiwara , K , Yokoi , K and Hirukawa , H . 2003b . Biped walking pattern generation by a simple 3D inverted pendulum model . Auton Robots. , 17 ( 2 ) : 131 – 147 .
   Google Scholar
• Kaneko , K , Harada , K , Kanehiro , F , Miyamori , G and Akachi , K . . Humanoid robot HRP-3 . Paper presented at: IEEE-RAS International Conference on Humanoid Robots (Humanoids 2008) . Sep 22–26 2008 , Nice, France.
   Google Scholar
• Kaneko , K , Kanehiro , F , Kajita , S , Yokoyama , K , Akachi , K , Kawasaki , T , Ota , S and Isozumi , T . . Design of prototype humanoid robotics platform for HRP . Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . 2002 . pp. 2431 – 2436 .
   Google Scholar
• Kaynov , D and Balaguer , C . . Industrial automation-based approach to design control system of the humanoid robot. Application to the Rh-1 humanoid robot . Paper presented at: IEEE International Symposium on Industrial Electronics (ISIE 2007) . June 2007 , Vigo, Spain.
   Google Scholar
• Kaynov , D , Rodríguez , M A , Arbulú , M , Staroverov , P , Cabas , L M and Balaguer , C . . Advanced motion control system for the humanoid robot Rh-0 . Paper presented at: 8th International Conference on Climbing and Walking Robots (Clawar 2005) .
   Google Scholar
• Murray , R M , Li , Z and Sastry , S S . 1994 . Mathematical introduction to robotic manipulation , Florida : CRC Press .
   Google Scholar
• Paden , B . 1986 . Kinematics and control robot manipulators , [PhD thesis] [Berkeley, (CA)] : Department of Electrical Engineering and Computer Sciences, University of California .
   Google Scholar
• Pardos , J M and Balaguer , C . . Rh-0 humanoid robot bipedal locomotion and navigation using Lie groups and geometric algorithm . Paper presented at: International Conference on Intelligent Robots and Systems (IROS 2005) . Aug 2005 , Edmonton. Canada.
   Google Scholar
• Park , F C , Bobrow , J E and Ploen , S R . 1995 . A Lie group formulation of robot dynamics . Int J Robot Res. , 14 ( 6 ) : 609 – 618 .
   Web of Science ®Google Scholar
• Park , J H and Cho , H C . . An on-line trajectory modifier for the base link of biped robots to enhance locomotion stability . Proceedings of the IEEE ICRA 2000 . pp. 3353 – 3358 .
   Google Scholar
• Raibert , M H . 1986 . Legged robots that balance , Cambridge : MIT Press .
   Google Scholar
• Regenstein , K and Dillmann , R . . Design of an open hardware architecture for the humanoid robot ARMAR . Proceedings of IEEE International Conference on Humanoid Robots . 2003 , Karlsruhe, Germany.
   Google Scholar
• Shin , C L , Li , Y Z , Churng , S , Lee , T T and Cruver , W A . . Trajectory synthesis and physical admissibility for a biped robot during the single-support phase . Proceedings of IEEE International Conference on Robotics and Automation 1990 . pp. 1646 – 1652 .
   Google Scholar
• Stramigioli , S , Mashke , B and Bidard , C . 2002 . On the geometry of rigid body motions: the relation between Lie groups and screws . J Mech Eng Sci , 216 ( C1 ) : 13 – 23 .
   Google Scholar
• Torre , S , Cabas , L M , Arbulú , M and Balaguer , C . . Inverse dynamics of humanoid robot by balanced mass distribution method . Paper presented at: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004) . Sep 2004 , Sendai. Japan.
   Google Scholar
• Vukobratovic , M and Juricic , D . 1969 . Contribution to the synthesis of biped gait . IEEE Tran. Bio-Med Eng , 16 ( l ) : 1 – 6 .
   PubMedGoogle Scholar
• Winter , D A . 1990 . Biomechanics and motor control of human movement , New York : Wiley-Interscience .
   Google Scholar
• Yamaguchi , J , Soga , E , Inoue , S and Takanishi , A . . Development of a bipedal humanoid robot control method of whole body cooperative dynamic bipedal walking . Paper presented at: IEEE International Conference on Robotics and Automation (ICRA 1999) . Detroit, USA.
   Google Scholar
• Yoshida , E , Belousov , I , Esteves , C and Laumond , J P . . Humanoid motion planning for dynamic tasks . Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids 2005) . 2005 . pp. 1 – 6 .
   Google Scholar