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This paper describes the dynamic and mechanical development of RH-0, an autonomous humanoid robot designed by the Robotics Lab of the University Carlos III of Madrid. The main objective of the project has been to obtain the robot that would walk like a human being. Using trajectories generated previously by the kinematic analysis, a dynamic design was made, that accepted as the main hypothesis...
The objective of this paper is to present the user friendly graphical environment for gait optimization of the humanoid robot Rh-0 that is currently under development at the Robotics Lab of the University Carlos III of Madrid. The robot has 21 DOF and is 1.35m tall. The main objective of the developed environment is to solve the kinematics problem of high DOF humanoid robots: forward kinematics, inverse...
The current study presents a method for comprehensive untargeted metabolomic fingerprinting of the non-volatile profile of the Graciano Vitis vinifera wine variety, using liquid chromatography/electrospray ionization time of flight mass spectrometry (LC–ESI-QTOF). Pre-treatment of samples, chromatographic columns, mobile phases, elution gradients and ionization sources, were evaluated for the extraction...
This paper deals with a novel solution for humanoid robots stepping over motion. It covers kinematics and dynamics problem, on the development of dynamically stable stepping over motion around an obstacle of any dimensions and configuration, between two generic footprints. The approach is solved taking into account the geometric constraints, by the use of oriented bounding boxes (OBB), the ZMP based...
This paper deals with alternative humanoid robot dynamics modelling, using the screw theory and Lie groups called the special Euclidean group (SE(3)). The dynamic models are deduced analitically. The inverse dynamics model is obtained by the Lagrangian formulation under screw theory, when the Jacobian manipulator depends on the respective twist and joint angles; on the other hand, the POE formula...
This paper addresses the problem of generating dynamic motion for a humanoid between two predefined postures. The humanoid robot starts its motion from a statically stable configuration to another known statically stable configuration when it is necessary to make step; that is, the center of mass (COM) is inside the support polygon at the initial and the goal configurations. A dynamic motion generation...
It is proposed the local axis gait algorithm in order to generate real-time gait patterns for a humanoid robot. The 3D foot motion planning for the humanoid global motion is developed in order to walk in any surface as plane, ramp, climbing stairs. Furthermore, it is possible continuous change the step length and orientation in real time. The cart-table model is used for planning COG and ZMP motion...
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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