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Applied Bionics and Biomechanics
Volume 5, Issue 4, Pages 225-234

Humanoid Robot RH-1 for Collaborative Tasks: A Control Architecture for Human-Robot Cooperation

Concepción A. Monje, Paolo Pierro, and Carlos Balaguer

University Carlos III of Madrid, Avd. Universidad 30, 28911 Leganés, Madrid, Spain

Received 19 January 2009

Copyright © 2008 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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.