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Inventions 2017, 2(3), 17; https://doi.org/10.3390/inventions2030017

Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype

Laboratory of Robotics and Mechatronics (LARM), DICEM, University of Cassino and South Latium, 03043 Cassino, Italy
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Received: 23 June 2017 / Revised: 28 July 2017 / Accepted: 9 August 2017 / Published: 15 August 2017
(This article belongs to the Special Issue Advances in Mechanism Design for Robots)
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Abstract

An artificial torso is a fundamental part of a humanoid robot for imitating human actions. In this paper, a prototype of CAUTO (CAssino hUmanoid TOrso) is presented. Its design is characterized by artificial vertebras actuated by cable-driven parallel manipulators. The design was conceived by looking at the complex system and functioning of the human torso, in order to develop a solution for basic human-like behavior. The requirements and kinematic structure are introduced to explain the peculiarities of the proposed mechanical design. A prototype is presented, and built with low-cost and high-performance features. Tests results are reported to show the feasibility and the characteristics in replicating human torso motions. In addition, the power consumption has been measured during the tests to prove the efficiency of the Li-Po battery supply, employed for a fully portable solution of the designed torso. View Full-Text
Keywords: humanoid robots; humanoid torso; parallel manipulators; design; performance evaluation; experimental robotics humanoid robots; humanoid torso; parallel manipulators; design; performance evaluation; experimental robotics
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Cafolla, D.; Ceccarelli, M. Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype. Inventions 2017, 2, 17.

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