Design, analysis and control of the series-parallel hybrid RH5 humanoid robot

• Main Authors: Esser, Julian, Kumar, Shivesh, Peters, Heiner, Bargsten, Vinzenz, Fernandez, Jose de Gea, Mastalli, Carlos, Stasse, Olivier, Kirchner, Frank
• Format: Journal Article
• Language: English
• Published: 26.01.2021
• Subjects: Computer Science - Robotics

Last decades of humanoid research has shown that humanoids developed for high dynamic performance require a stiff structure and optimal distribution of mass--inertial properties. Humanoid robots built with a purely tree type architecture tend to be bulky and usually suffer from velocity and force/to...