Abstract
Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.
Article PDF
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.Avoid common mistakes on your manuscript.
References
Android World homepage, Bipedal Projects. 2014, http://www.androidworld.com/index.htm
Rosheim M E. Robot Evolution: The Development of Anthrobotics. New York: John Wiley & Sons, 1994
NAO. Robotics A. 2014, http://www.aldebaran-robotics.com/en/
PINO. ST. 2014, http://orionrobots.co.uk/Pino
Koganezawa K, Takanishi A, Sugano S. Development of Waseda Robot. 3rd ed. Tokyo: Publisher Ichiro Kato Laboratory, 1991
HRI Takanishi Lab. 2014, http://www.takanishi.mech.waseda.ac.jp/top/research/wabian/
Furusho J, Sano A. Sensor-based control of a nine-link biped. International Journal of Robotics Research, 1990, 9(2): 83–98
Honda Motor Corporation homepage. 2014, http://www.honda.co.jp/ASIMO
AIST homepage. 2014, http://www.aist.go.jp/sangi/29.html
Pfeiffer F, Loffler K, Gienger M, Ulbrich H. Sensor and control aspects of biped robot “Johnnie”. International Journal of Humanoid Robotics, 2004, 1(3): 481–496
University of Muenchen homepage. 2014, http://www.unibwmuenchen.de/hermes/
University of Karlsruhe homepage. 2014, http://wwwipr.ira.uka.de/en/home/
Chalmers University in Goteburg homepage. 2014, http://humanoid.fy.chalmers.se/elvis.html
Massachusset Institute of Technology homepage. 2014, http://www.ai.mit.edu/projects/humanoid-robotics-group/index.html.
Sarcos homepage, 2014, http://www.sarcos.com
KIST homepage, 2014, http://intmob-robot.kist.re.kr/field.html
KAIST homepage. 2014, http://mind.kaist.ac.kr/3_re/HumanRobot/HumanRobot.htm
University of Western Australia homepage. 2014, http://www.ee.uwa.edu.au/~braunl/eyebot/robots/android.html
Virginia C. Bones and Muscles: An Illustrated Anatomy. New York: Wolf Fly Press, 1999
Liang C, Ceccarelli M. Design and simulation of a waist-runk system for a humanoid robot. Mechanism and Machine Theory, 2012, 53: 50–65
Aiman Musa M O, Ogura Y, Kondo H, et al. Development of a humanoid robot having 2-DOF waist and 2-DOF trunk. In: Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots. Tsukuba: IEEE, 2005, 333–338
Ceccarelli M. A new 3 D.O.F. parallel spatial mechanism. Mechanism and Machine Theory, 1997, 32(8): 895–902
Ceccarelli M. Parallel manipulator architectures from CAPAMAN design. In: Proceedings of the 2010 IEEE 19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD). Budapest: IEEE, 2010, 187–192
Carbone G, Ceccarelli M, Takanishi A, et al. A study of feasibility for a low-cost humanoid robot. In: Proceedings of 2001 IEEE-RAS International Conference on Humanoid Robots Humanoids. Tokyo, 2001, 351–358
Nava Rodriguez N E, Carbone G, Ceccarelli M. Design evolution of low-cost humanoid robot CALUMA. In: Proceedings of 12th World Congress in Mechanism and Machine Science IFToMM’07. Besançon, 2007
Nava Rodriguez N E, Carbone G, Ceccarelli M. CaPaMan2bis as trunk module in CALUMA (CAssino low-cost hUMAnoid Robot). In: Proceedings of 2006 IEEE Conference on Robotics, Automation and Mechatronics. Bangkok, 2006, 1–6
Nava Rodriguez N E, Carbone G, Ceccarelli M. Simulation results for design and operation of CALUMA, a new low-cost humanoid robot. Robotica, 2008, 26(5): 601–618
Liang C. Design and simulation of a waist-trunk system for humanoid robots. Dissertation for the Doctoral Degree. Cassino: University of Cassino, 2010
Liang C, Ceccarelli M, Carbone G. Experimental characterization of operation of a waist-trunk system with parallel manipulators. Chinese Journal of Mechanical Engineering, 2011, 24(5): 713–722
Cafolla D, Ceccarelli M. Design and FEM analysis of a novel humanoid torso. In: Multibody Mechatronic Systems. Dordrecht: Spirnger, 2014, 477–488
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Ceccarelli, M. LARM PKM solutions for torso design in humanoid robots. Front. Mech. Eng. 9, 308–316 (2014). https://doi.org/10.1007/s11465-014-0318-6
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11465-014-0318-6