Task-priority based redundancy control of robot manipulators
International Journal of Robotics Research
Nonlinear Control Systems
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Walking Control Algorithm of Biped Humanoid Robot on Uneven and Inclined Floor
Journal of Intelligent and Robotic Systems
Whose job is it anyway? a study of human-robot interaction in a collaborative task
Human-Computer Interaction
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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.