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Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype

Daniele Cafolla Orcid Logo, Marco Ceccarelli Orcid Logo

Inventions, Volume: 2, Issue: 3, Start page: 17

Swansea University Author: Daniele Cafolla Orcid Logo

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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...

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Published in: Inventions
ISSN: 2411-5134
Published: MDPI AG 2017
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URI: https://cronfa.swan.ac.uk/Record/cronfa62532
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first_indexed 2023-03-01T12:02:29Z
last_indexed 2023-03-02T04:17:39Z
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spelling 2023-03-01T12:04:34.9040500 v2 62532 2023-02-03 Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype ac4feae4da44720e216ab2e0359e4ddb 0000-0002-5602-1519 Daniele Cafolla Daniele Cafolla true false 2023-02-03 SCS 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. Journal Article Inventions 2 3 17 MDPI AG 2411-5134 humanoid robots; humanoid torso; parallel manipulators; design; performance evaluation; experimental robotics 15 8 2017 2017-08-15 10.3390/inventions2030017 COLLEGE NANME Computer Science COLLEGE CODE SCS Swansea University 2023-03-01T12:04:34.9040500 2023-02-03T14:31:53.6943020 Faculty of Science and Engineering School of Mathematics and Computer Science - Computer Science Daniele Cafolla 0000-0002-5602-1519 1 Marco Ceccarelli 0000-0001-9388-4391 2 62532__26705__d1cc151665da4163a6ddbce4d05ab0ce.pdf 62532_VoR.pdf 2023-03-01T12:03:03.0472340 Output 8307050 application/pdf Version of Record true © 2017 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 Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype
spellingShingle Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype
Daniele Cafolla
title_short Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype
title_full Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype
title_fullStr Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype
title_full_unstemmed Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype
title_sort Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype
author_id_str_mv ac4feae4da44720e216ab2e0359e4ddb
author_id_fullname_str_mv ac4feae4da44720e216ab2e0359e4ddb_***_Daniele Cafolla
author Daniele Cafolla
author2 Daniele Cafolla
Marco Ceccarelli
format Journal article
container_title Inventions
container_volume 2
container_issue 3
container_start_page 17
publishDate 2017
institution Swansea University
issn 2411-5134
doi_str_mv 10.3390/inventions2030017
publisher MDPI AG
college_str Faculty of Science and Engineering
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hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Mathematics and Computer Science - Computer Science{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Mathematics and Computer Science - Computer Science
document_store_str 1
active_str 0
description 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.
published_date 2017-08-15T04:22:13Z
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score 11.012678

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