Abstract
This paper presents an advanced motion control system for the Rh-0 humanoid robot. Rh-0 is a humanoid platform which we developed on the first phase of the Rh project, which was launched by the Robotics Lab at the University Carlos III of Madrid in 2002. The motion control system of Rh-0 is based on standard commercial available hardware components. It provides scalability, modularity and application of standardized interfaces. As a result, easy upgrade and further development of reduced weight humanoid robot is possible. In this paper the hardware system, control level software and experimental results are discussed.
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© 2006 Springer-Verlag Berlin Heidelberg
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Kaynov, D., Rodríguez, M.A., Arbulú, M., Staroverov, P., Cabas, L., Balaguer, C. (2006). Advanced Motion Control System for the Humanoid Robot Rh-0. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_54
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DOI: https://doi.org/10.1007/3-540-26415-9_54
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
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