Abstract
The full-scale humanoid robot RH-1 has been totally developed in the University Carlos III of Madrid. In this paper we present an advanced control system for this robot so that it can perform tasks in cooperation with humans. The collaborative tasks are carried out in a semi-autonomous way and are intended to be put into operation in real working environments where humans and robots should share the same space. Before presenting the control strategy, the kinematic model and a simplified dynamic model of the robot are presented. All the models and algorithms are verified by several simulations and experimental results.
Highlights
In real life, the use of robots in typical human environments could be really profitable, especially in work tasks where robots can perform in collaboration with human agents
Human-robot collaboration has a common framework with respect to the human-robot interaction and it is important that the robot partner perceives human intentions or goals in order to achieve a common objective (Hinds et al 2004)
The control algorithms proposed in this paper have been tested using the model of the humanoid robot RH-1 (Figure 2), a prototype totally developed within the research team Robotics Lab in the University Carlos III of Madrid
Summary
The use of robots in typical human environments could be really profitable, especially in work tasks where robots can perform in collaboration with human agents. The control algorithms proposed in this paper have been tested using the model of the humanoid robot RH-1 (Figure 2), a prototype totally developed within the research team Robotics Lab in the University Carlos III of Madrid.
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