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Design and Experiments of a Novel Humanoid Robot with Parallel Architectures
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Marco Ceccarelli
Robotics, Volume: 7, Issue: 4, Start page: 79
Swansea University Author:
Daniele Cafolla
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© 2018 by the authors. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license
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DOI (Published version): 10.3390/robotics7040079
Abstract
In this paper, the mechanical design of the LARMbot 2, a low-cost user-oriented humanoid robot was presented. LARMbot 2 is characterized by parallel architectures for both the torso and legs. The proposed design was presented with the kinematics of its main parts—legs, torso, arms—and then compared...
| Published in: | Robotics |
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| ISSN: | 2218-6581 |
| Published: |
MDPI AG
2018
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| Online Access: |
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| URI: | https://cronfa.swan.ac.uk/Record/cronfa62526 |
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| Abstract: |
In this paper, the mechanical design of the LARMbot 2, a low-cost user-oriented humanoid robot was presented. LARMbot 2 is characterized by parallel architectures for both the torso and legs. The proposed design was presented with the kinematics of its main parts—legs, torso, arms—and then compared to its previous version, which was characterized by a different leg mechanism, to highlight the advantages of the latest design. A prototype was then presented, with constructive details of its subsystems and its technical specifications. To characterize the performance of the proposed robot, experimental results were presented for both the walking and weight-lifting operations. |
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| Keywords: |
humanoid robots; parallel mechanisms; cable-driven robots; robotic legs |
| College: |
Faculty of Science and Engineering |
| Issue: |
4 |
| Start Page: |
79 |