Paolo Pierro

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Efficient methods have so far been proposed for planning dynamically stable walking pattern for humanoid robots. However, to guarantee that the reference joint trajectory will produce a safe movement despite modeling errors and perturbations, a stabilizer needs to be implemented on the robot. Though this stabilizer constitutes an essential part of the(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)
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(More)
Our goal is to study collaborative working environments in which human and robotic agents can work together in the achievement of different tasks. The introduction of robots in the field of space applications becomes really useful when performing tasks that are too dangerous, too difficult or even impossible for humans. In this paper we present a(More)
— 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)