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Design and Experiments of a Novel Humanoid Robot with Parallel Architectures

Matteo Russo, Daniele Cafolla Orcid Logo, Marco Ceccarelli Orcid Logo

Robotics, Volume: 7, Issue: 4, Start page: 79

Swansea University Author: Daniele Cafolla Orcid Logo

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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...

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Published in: Robotics
ISSN: 2218-6581
Published: MDPI AG 2018
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URI: https://cronfa.swan.ac.uk/Record/cronfa62526
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first_indexed 2023-03-01T13:48:08Z
last_indexed 2023-03-02T04:17:38Z
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spelling 2023-03-01T13:49:41.3695737 v2 62526 2023-02-03 Design and Experiments of a Novel Humanoid Robot with Parallel Architectures ac4feae4da44720e216ab2e0359e4ddb 0000-0002-5602-1519 Daniele Cafolla Daniele Cafolla true false 2023-02-03 SCS 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. Journal Article Robotics 7 4 79 MDPI AG 2218-6581 humanoid robots; parallel mechanisms; cable-driven robots; robotic legs 4 12 2018 2018-12-04 10.3390/robotics7040079 COLLEGE NANME Computer Science COLLEGE CODE SCS Swansea University 2023-03-01T13:49:41.3695737 2023-02-03T14:29:25.5135122 Faculty of Science and Engineering School of Mathematics and Computer Science - Computer Science Matteo Russo 1 Daniele Cafolla 0000-0002-5602-1519 2 Marco Ceccarelli 0000-0001-9388-4391 3 62526__26708__4074dbfc0df445aeaa6f87de8dcc43f8.pdf 62526_VoR.pdf 2023-03-01T13:48:45.2062025 Output 5685864 application/pdf Version of Record true © 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 true eng http://creativecommons.org/licenses/by/4.0/
title Design and Experiments of a Novel Humanoid Robot with Parallel Architectures
spellingShingle Design and Experiments of a Novel Humanoid Robot with Parallel Architectures
Daniele Cafolla
title_short Design and Experiments of a Novel Humanoid Robot with Parallel Architectures
title_full Design and Experiments of a Novel Humanoid Robot with Parallel Architectures
title_fullStr Design and Experiments of a Novel Humanoid Robot with Parallel Architectures
title_full_unstemmed Design and Experiments of a Novel Humanoid Robot with Parallel Architectures
title_sort Design and Experiments of a Novel Humanoid Robot with Parallel Architectures
author_id_str_mv ac4feae4da44720e216ab2e0359e4ddb
author_id_fullname_str_mv ac4feae4da44720e216ab2e0359e4ddb_***_Daniele Cafolla
author Daniele Cafolla
author2 Matteo Russo
Daniele Cafolla
Marco Ceccarelli
format Journal article
container_title Robotics
container_volume 7
container_issue 4
container_start_page 79
publishDate 2018
institution Swansea University
issn 2218-6581
doi_str_mv 10.3390/robotics7040079
publisher MDPI AG
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Mathematics and Computer Science - Computer Science{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Mathematics and Computer Science - Computer Science
document_store_str 1
active_str 0
description 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.
published_date 2018-12-04T04:22:13Z
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score 11.037166

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