Antropomorphic Design and Operation of a New Low-Cost Humanoid Robot

Author

Rodriguez, Nestor Eduardo Nava ; Carbone, Giuseppe ; Ceccarelli, Marco

Author_Institution

Lab. of Robotics & Mechatronics, Univ. of Cassino

fYear

2006

fDate

20-22 Feb. 2006

Firstpage

933

Lastpage

938

Abstract

This paper illustrates design and simulation results for a new low-cost humanoid robot that has been named as CALUMA (CAssino Low-cost hUMAnoid robot). A 3D-CAD model of CALUMA has been developed in order to check the design feasibility, possible component interferences and kinematic behaviour. A dynamic simulation in ADAMS environment has been carried out for CALUMA walking movements. Preliminary results of dynamic simulation have shown a falling down of CALUMA. Successful simulations of the robot walking movement have been obtained after carrying out some enhancements in the design of CALUMA

Keywords

CAD; humanoid robots; mobile robots; robot dynamics; robot kinematics; 3D-CAD model; ADAMS environment; antropomorphic robot design; antropomorphic robot operation; component interference; design feasibility; dynamic simulation; humanoid robot; kinematic behaviour; low-cost design; mechanical design; robot falling out simulation; robot walking movement; Costs; Humanoid robots; Humans; Interference; Kinematics; Laboratories; Leg; Legged locomotion; Mechatronics; Prototypes;

fLanguage

English

Publisher

ieee

Conference_Titel

Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on

Conference_Location

Pisa

Print_ISBN

1-4244-0040-6

Type

conf

DOI

10.1109/BIOROB.2006.1639211

Filename

1639211