Paolo Pierro

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— This work deals with the modelling and control of the humanoid robot RH-1, a full scale humanoid prototype totally developed in the University Carlos III of Madrid and the only one existing in our country. The main objective is to develop an advanced control system that allows cooperation tasks to be carried out semi-autonomously between humanoid robots(More)
— In this paper we present a different strategy for generating the trajectory of the swinging leg for a walking humanoid robot which takes into account the effects due to acceleration and velocities of the joints onto the center of mass of the robot. The trajectory of the leg is chosen to be constituted by two forth order polynomials interlaced by a(More)
The aim of this work is to model and simulate the humanoid robot HOAP-3 in the OpenHRP3 platform. Our purpose is to create a virtual model of the robot so that different motions and tasks can be tested in different environments. This will be the first step before testing the motion patterns in the real HOAP-3. We use the OpenHRP3 platform for the creation(More)
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