Mario Arbulú

Real-time gait planning for Rh-1 humanoid robot, using Local Axis Gait algorithm

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. The proposed algorithm takes into account physical robot constraints as joint angles, angular velocity and torques. Torques are computed by Lagrange method under Lie groups. Some results are shown and discussed.

Dynamic acyclic motion from a planar contact-stance to another

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 method is proposed in order to generate the whole-body robot motion. Zero moment point preview control is used for maintaining dynamic stability while the robot is taking the step and suitable splines are used for generating the hands, neck and foot motion because it is a free motion on the field of gravity; the screw theory is applied under Lie groups for kinematics and dynamics humanoid modeling, which allows smooth and natural humanoid motion. Successful results on the HRP-2 humanoid robot are shown and discussed.

ZMP Human Measure System

This paper describes a measuring system to calculate the ZMP in humans. The main goal is to do several tests with a hardware measure system in order to analyze whether it will be possible to implement it in the Rh-0 humanoid robot. The humanoid robot Rh-0 under development at the Robotics Lab of the University Carlos III of Madrid, will have a movement control system which will measure its ZMP on-line. First of all, several tests of these possible control systems on people have been developed, measuring their ZMP while they are walking on a plane floor.

Aiming for multibody dynamics on stable humanoid motion with special euclideans groups

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 drives a very natural and explicit description of the Jacobian manipulator without the drawbacks of local representation. The forward dynamics were solved by propagation method from an end-effector to the center of gravity (COG) always on the SE(3). Many tests for reference dynamic walking patterns have been carried out, which are represented in simulation and experimental results. The results will be discussed in order to validate the proposed algorithms.

CREATING A GESTURE RECOGNITION SYSTEM BASED ON SHIRT SHAPES

The present article describes the gesture recognition system that has been developed at the University Carlos I11 of Madrid. The system’s functionality is based on the assumption that the person that wants to interact with the robot should wear a shirt which characteristics must have been previously passed on to the program. The algorithm used for the recognition is presented in detail. The results of a number of tests are presented and discussed along with the suggestions for hture improvements.

Mechanical Design and Dynamic Analysis of the Humanoid Robot RH-0

This paper presents the design process and the dynamic analysis of the 21 DOF humanoid robot RH-0, developed in the Robotics Lab. at the University Carlos III of Madrid.

Advanced Motion Control System for the Humanoid Robot Rh-0

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.

DETECTING SOUND SOURCES WITH THE HUMANOID ROBOT RH-1

Rh-l is a humanoid robot under development at the University Carlos I11 of Madrid. Along with other interaction types, the robot is capable of recognizing voice commands. This article describes the sound localization system that has been added recently. It is independent of the voice recognition system and uses the information From several microphones attached to the robot’s head that is further processed in order to estimate the sound source direction. Results are presented and discussed and the ideas how to improve the performance are suggested.

A “T-shirt Based” Image Recognition System

This paper presents a simple image recognition system for the Rh-0 humanoid robot that has been developed in the University Carlos III of Madrid, Spain. This system extracts some basic features from the image that may be used in the robot’s navigation and path planning. The simplicity of this system is based on the assumption that the person interacting with the robot is wearing a red T-shirt as well as on some other assumptions. In the paper we describe the vision system’s structure and the steps followed in the development of the image recognition system. Experimental results and discussion complete the description of the system.

Development of the Light-Weight Human Size Humanoid Robot RH-0

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.