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Design and Experiments of a Novel Humanoid Robot with Parallel Architectures
Robotics, Volume: 7, Issue: 4, Start page: 79
Swansea University Author: Daniele Cafolla
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© 2018 by the authors. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license
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DOI (Published version): 10.3390/robotics7040079
Abstract
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...
Published in: | Robotics |
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ISSN: | 2218-6581 |
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MDPI AG
2018
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URI: | https://cronfa.swan.ac.uk/Record/cronfa62526 |
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2023-03-01T13:49:41.3695737 v2 62526 2023-02-03 Design and Experiments of a Novel Humanoid Robot with Parallel Architectures ac4feae4da44720e216ab2e0359e4ddb 0000-0002-5602-1519 Daniele Cafolla Daniele Cafolla true false 2023-02-03 SCS 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. Journal Article Robotics 7 4 79 MDPI AG 2218-6581 humanoid robots; parallel mechanisms; cable-driven robots; robotic legs 4 12 2018 2018-12-04 10.3390/robotics7040079 COLLEGE NANME Computer Science COLLEGE CODE SCS Swansea University 2023-03-01T13:49:41.3695737 2023-02-03T14:29:25.5135122 Faculty of Science and Engineering School of Mathematics and Computer Science - Computer Science Matteo Russo 1 Daniele Cafolla 0000-0002-5602-1519 2 Marco Ceccarelli 0000-0001-9388-4391 3 62526__26708__4074dbfc0df445aeaa6f87de8dcc43f8.pdf 62526_VoR.pdf 2023-03-01T13:48:45.2062025 Output 5685864 application/pdf Version of Record true © 2018 by the authors. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license true eng http://creativecommons.org/licenses/by/4.0/ |
title |
Design and Experiments of a Novel Humanoid Robot with Parallel Architectures |
spellingShingle |
Design and Experiments of a Novel Humanoid Robot with Parallel Architectures Daniele Cafolla |
title_short |
Design and Experiments of a Novel Humanoid Robot with Parallel Architectures |
title_full |
Design and Experiments of a Novel Humanoid Robot with Parallel Architectures |
title_fullStr |
Design and Experiments of a Novel Humanoid Robot with Parallel Architectures |
title_full_unstemmed |
Design and Experiments of a Novel Humanoid Robot with Parallel Architectures |
title_sort |
Design and Experiments of a Novel Humanoid Robot with Parallel Architectures |
author_id_str_mv |
ac4feae4da44720e216ab2e0359e4ddb |
author_id_fullname_str_mv |
ac4feae4da44720e216ab2e0359e4ddb_***_Daniele Cafolla |
author |
Daniele Cafolla |
author2 |
Matteo Russo Daniele Cafolla Marco Ceccarelli |
format |
Journal article |
container_title |
Robotics |
container_volume |
7 |
container_issue |
4 |
container_start_page |
79 |
publishDate |
2018 |
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Swansea University |
issn |
2218-6581 |
doi_str_mv |
10.3390/robotics7040079 |
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MDPI AG |
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Faculty of Science and Engineering |
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Faculty of Science and Engineering |
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facultyofscienceandengineering |
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Faculty of Science and Engineering |
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School of Mathematics and Computer Science - Computer Science{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Mathematics and Computer Science - Computer Science |
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description |
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. |
published_date |
2018-12-04T04:22:13Z |
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1763754464354762752 |
score |
11.035349 |