Design and Experiments of a Novel Humanoid Robot with Parallel Architectures
Design and Experiments of a Novel Humanoid Robot with Parallel Architectures
复制标题
一种新型并行架构仿人机器人的设计与实验
DOI：
10.3390/robotics7040079
复制
发表时间：
2018
期刊：
影响因子：
3.7
通讯作者：
M. Ceccarelli
中科院分区：
文献类型：
--
作者：
Matteo Russo;D. Cafolla;M. Ceccarelli
介绍了一种面向用户的低成本仿人机器人LARMbot 2的机械设计。LARMbot 2的特点是躯干和腿部的并行架构。提出的设计与运动学的主要部分腿，躯干，手臂，然后比较其以前的版本，这是一个不同的腿机构的特点，突出的优点，最新的设计。随后介绍了一个原型，并详细介绍了其各分系统及其技术规格。为了表征所提出的机器人的性能，实验结果都提出了步行和举重操作。
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.