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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 control strategy of most advanced humanoid platform,...
Stable walking is the essential ability for the humanoid robot. One of the conditions to achieve a stable robot walking is to maintain the real trajectory of each joint, affected by different disturbances, more similar to the ideal one. This paper considers an identification of dynamical parameters and then a design of joint's controller for a humanoid robot. Moreover, the additional study was carried...
This paper presents an advanced control system for the humanoid robot. The main advantage of the proposed control architecture is the use of the standardized and frequently used in the automation industry solutions and commercial available hardware components. It provides the scalability, the modularity and the application of standardized interfaces and brings the design of the complex control system...
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 supervision, and also for sensing different...
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