Design and Experiments of a Novel Humanoid Robot with Parallel Architectures †
Abstract
:1. Introduction
2. Design of LARMbot 2
3. Prototype Construction
4. Control and Sensing
5. Experimental Validation
6. Conclusions
7. Patents
Author Contributions
Funding
Conflicts of Interest
References
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Module | Abbr. | W (mm) | D (mm) | H (mm) | Mass (kg) | Actuators |
---|---|---|---|---|---|---|
Left Leg | LL | 160 | 150 | 400 | 0.5 | 3 leg, 1 ankle |
Right Leg | RL | 160 | 150 | 400 | 0.5 | 3 leg, 1 ankle |
Torso | TO | 200 | 150 | 300 | 1.2 | 4 cables |
Left Arm | LA | 60 | 60 | 360 | 0.5 | 3 arm, 1 hand |
Right Arm | RA | 60 | 60 | 360 | 0.5 | 3 arm, 1 hand |
Head | HD | 95 | 150 | 150 | 0.4 | 2 neck |
LARMbot | - | 320 | 150 | 850 | 3.6 | 22 |
DoF | Location | Description | Force/Torque | DoF | Location | Description | Force/Torque |
---|---|---|---|---|---|---|---|
q1 | LL | Linear actuator B | 36 N (4.5 mm/s) | q12 | TO | Cable servomotor FR | 1.08 Nm |
q2 | LL | Linear actuator L | 36 N (4.5 mm/s) | q13 | LA | Shoulder motor 1 | 1.08 Nm |
q3 | LL | Linear actuator R | 36 N (4.5 mm/s) | q14 | LA | Shoulder motor 2 | 1.08 Nm |
q4 | LL | Ankle servomotor | 1.08 Nm | q15 | LA | Elbow motor | 1.08 Nm |
q5 | RL | Linear actuator B | 36N (4.5 mm/s) | q16 | LA | Hand motor | 1.08 Nm |
q6 | RL | Linear actuator L | 36N (4.5 mm/s) | q17 | RA | Shoulder motor 1 | 1.08 Nm |
q7 | RL | Linear actuator R | 36N (4.5 mm/s) | q18 | RA | Shoulder motor 2 | 1.08 Nm |
q8 | RL | Ankle servomotor | 1.08 Nm | q19 | RA | Elbow motor | 1.08 Nm |
q9 | TO | Cable servomotor BL | 1.08 Nm | q20 | RA | Hand motor | 1.08 Nm |
q10 | TO | Cable servomotor BR | 1.08 Nm | q21 | HE | Neck motor 1 | 1.08 Nm |
q11 | TO | Cable servomotor FL | 1.08 Nm | q22 | HE | Neck motor 2 | 1.08 Nm |
Test Mode | Payload | Appl. Point | Moving Parts | Sensors |
---|---|---|---|---|
1 | 0.00 kg | - | Legs, Torso | IMU, Current Sensor |
2 | 1.00 kg | Back | Legs, Torso | IMU, Current Sensor |
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Russo, M.; Cafolla, D.; Ceccarelli, M. Design and Experiments of a Novel Humanoid Robot with Parallel Architectures. Robotics 2018, 7, 79. https://doi.org/10.3390/robotics7040079
Russo M, Cafolla D, Ceccarelli M. Design and Experiments of a Novel Humanoid Robot with Parallel Architectures. Robotics. 2018; 7(4):79. https://doi.org/10.3390/robotics7040079
Chicago/Turabian StyleRusso, Matteo, Daniele Cafolla, and Marco Ceccarelli. 2018. "Design and Experiments of a Novel Humanoid Robot with Parallel Architectures" Robotics 7, no. 4: 79. https://doi.org/10.3390/robotics7040079