Design and Performance Analysis of LARMbot Torso V1
Wen Jie Gao,Marco Ceccarelli +1 more
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TLDR
In this article , the LARMbot torso V1 can bend successfully to the desired angles, and it is able to complete a full motion smoothly, and new designs are suggested, based on the analysis of the test results.Abstract:
In this paper, laboratory experiments of LARMbot torso V1 are reported in the third mode, thereby providing a testing characterization. Sensors were used to measure parameters including the contact force between the shoulder and cables, linear acceleration, angles of the torso body, and power consumption. The results showed that the LARMbot torso V1 can bend successfully to the desired angles, and that it is able to complete a full motion smoothly. The LARMbot torso V1 can mimic human-like motiaons. Based on our analysis of the test results, improvements are suggested, and new designs are considered.read more
Citations
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Book ChapterDOI
A Kinematic Analysis of a New LARMbot Torso Design
TL;DR: In this article , a kinematic analysis is conducted on the new design of the LARMbot torso, which is developed by analyzing the structure of a human spine, and the model can also provide parameters for testing a manufactured humanoid torso prototype.
References
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Book ChapterDOI
Design and simulation of a waist–trunk system for a humanoid robot
Conghui Liangs,Marco Ceccarelli +1 more
TL;DR: In this paper, a waist-trunk system consisting of a 3 legged UPS orientation parallel platform and a 6 legged UP parallel platform are connected together in a serial architecture.
Proceedings ArticleDOI
The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors
TL;DR: In this article, an actuator-aware kino-dynamic motion planner and a landing controller are presented as part of a practical system design for highly dynamic motion control of the humanoid robot.
Proceedings Article
A Humanoid Muscle Robot Torso with Biologically Inspired Construction
Ivo Boblan,Andreas S. Schulz +1 more
TL;DR: This paper presents the humanoid muscle robot torso called “Zwei-Arm-Roboter” ZAR5 in human-like proportions and functionality, which is fully actuated by artificia l air muscles.
Journal ArticleDOI
Design and Simulation of a Cable-Driven Vertebra-Based Humanoid Torso
Daniele Cafolla,Marco Ceccarelli +1 more
TL;DR: A novel torso design is presented with cable-driven vertebra-based solution, as inspired by human anatomy, with the aim of testing the feasibility of the proposed solution and characterizing its operation performance.