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A new approach on human–robot collaboration with humanoid robot RH-2

Published online by Cambridge University Press:  18 March 2011

C. A. Monje ,
P. Pierro  and
C. Balaguer
C. A. Monje*
Affiliation:
Department of Systems Engineering and Automatics, University Carlos III of Madrid, Madrid, 28911/Leganés, Spain
P. Pierro
Affiliation:
Department of Systems Engineering and Automatics, University Carlos III of Madrid, Madrid, 28911/Leganés, Spain
C. Balaguer
Affiliation:
Department of Systems Engineering and Automatics, University Carlos III of Madrid, Madrid, 28911/Leganés, Spain
*
*Corresponding author. E-mail: cmonje@ing.uc3m.es
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Summary

This paper presents a novel control architecture for humanoid robot RH-2. The main objective is that a robot can perform different tasks in collaboration with humans in working environments. In order to achieve this goal, two control loops have to be defined. The outer loop, called collaborative control loop, is devoted to the generation of stable motion patterns for a robot, given a specific manipulation task. The inner loop, called posture stability control loop, acts to guarantee the stability of humanoid for different poses determined by motion patterns. A case study is presented in order to show the effectiveness of the proposed control architecture.

Keywords

Humanoid robot RH-2Human–robot collaborationControl architectureKinematic modelDynamic model

Information

Type
Articles
Information
Robotica , Volume 29 , Issue 6 , October 2011 , pp. 949 - 957
Copyright
Copyright © Cambridge University Press 2011

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