Rh-0 humanoid full size robot's control strategy based on the Lie logic technique

Abstract

This paper presents the experimental results of the full size Rh-0 humanoid robot developed by the University Carlos III of Madrid. The robot has 21 DOF, 1.350 mm height and 40 kg weight including the on-board batteries and hardware. The robot's control architecture is formed by the distributed dual CAN bus system. The bus is used for joints' control and… (More)
DOI: 10.1109/ICHR.2005.1573579

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