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Open AccessArticle

Design and Experiments of a Novel Humanoid Robot with Parallel Architectures

Laboratory of Robotics and Mechatronics, University of Cassino and Southern Latium, Via Di Biasio 43, 03043 Cassino FR, Italy
IRCCS Neuromed, Via Atinense 18, 86077 Pozzilli IS, Italy
Author to whom correspondence should be addressed.
This paper is an extended version of our paper published in Russo, M.; Cafolla, Daniele; Ceccarelli, M. Development of LARMbot 2, A Novel Humanoid Robot with Parallel Architectures. In Proceedings of the 2018 4th IFToMM Symposium on Mechanism Design for Robotics, Udine, Italy, 11–13 September 2018; pp. 17–24.
Robotics 2018, 7(4), 79;
Received: 1 November 2018 / Revised: 27 November 2018 / Accepted: 2 December 2018 / Published: 4 December 2018
(This article belongs to the Special Issue Mechanism Design for Robotics)
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. View Full-Text
Keywords: humanoid robots; parallel mechanisms; cable-driven robots; robotic legs humanoid robots; parallel mechanisms; cable-driven robots; robotic legs
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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.

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