Modelling and control of the humanoid robot RH-1 for collaborative tasks

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

“…In fact, by using pseudo-inverse of the Jacobian matrix, it is possible to determine joint angles of a robot for the execution of a task, while accomplishing one or several lower-priority subtasks. 13 In a previous work, 2,24 we have demonstrated the possibility of using such a tool in order to find a solution of RH-2 arms in a closed kinematic chain. However, using this solution it is not possible to specify the desired orientation to be followed.…”

“…2,24 Each arm has only four joints and two arms share a common neck joint. The idea behind this work is to add two virtual prismatic joints.…”

“…1 A human can interact with a robot using different tools, such as a Personal Digital Assistant (PDA) system or a joystick. 2 A coordinated task between a human and a mobile manipulator has been analyzed by Yamamoto et al, 3 where the mobile manipulator follows the trajectory while executing a task together with a human. Of course, the main issue in the human-robot physical interaction is the whole-body control problem under several constraints and obstacles, already extensively presented in literature.…”

Comparison of Identification Techniques for a 6-DOF Real Robot and Development of an Intelligent Controller

“…Amongst the most remarkable disadvantages we have the fact that the higher accuracy we ask the controller, the more response delay we have (Ogata, 1996). That is why, if we can get a good enough system description, control systems can be simplified, enhancing their accuracy as well as their speed (Pierro et al, 2008). Advanced control techniques allow us an accurate control from a system predictor model, as the case of adaptive control techniques by reference model, studied in this chapter.…”

Teo: Full-Size Humanoid Robot Design Powered by a Fuel Cell System

“…The main research objectives of this platform have been the stability of the robot (Kaynov et al 2009) and the gait generation (Pardos and Balaguer 2005;Arbulú and Balaguer 2007), though other research activities have focused on human-robot interaction (Staroverov, Ricardo Martinez, et al 2007;Staroverov, Marcos, et al 2007) and collaboration (Pierro, Monje, and Balaguer 2008). In fact, these two first versions aim at studying stable walking and do not consider upper part movements related to physical collaboration.…”