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Pose control of the humanoid robot RH-1 for mobile manipulation

This paper presents an advanced control architecture for the full-scale humanoid robot RH-1. The pose control of the prototype is aimed in order to achieve mobile manipulation in collaborative working environments where humans and robots must share the same tasks and space. The kinematic model and a simplified dynamic model of the robot are given. All the models and algorithms are verified by several simulations and from experimental results.