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Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype
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Marco Ceccarelli
Inventions, Volume: 2, Issue: 3, Start page: 17
Swansea University Author:
Daniele Cafolla
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DOI (Published version): 10.3390/inventions2030017
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 lookin...
| Published in: | Inventions |
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| ISSN: | 2411-5134 |
| Published: |
MDPI AG
2017
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| Online Access: |
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| URI: | https://cronfa.swan.ac.uk/Record/cronfa62532 |
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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. |
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| Keywords: |
humanoid robots; humanoid torso; parallel manipulators; design; performance evaluation; experimental robotics |
| College: |
Faculty of Science and Engineering |
| Issue: |
3 |
| Start Page: |
17 |