CaPaMan2bis as Trunk module in CALUMA (CAssino Low-cost hUMAnoid robot)

Author

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

Author_Institution

Lab. of Robotics & Mechatronics, Cassino Univ.

fYear

2006

fDate

Dec. 2006

Firstpage

1

Lastpage

6

Abstract

In this paper, CaPaMan2bis (Cassino parallel manipulator version 2bis) has been analysed as trunk subsystem in CALUMA (Cassino low-cost humanoid) robot. Dynamic simulations have been developed for an operation of CaPaMan2bis as trunk module of CALUMA has been checked. Specifically, simulations for walking and grasping have been carried out to evaluate CALUMA performance. Simulations have given results that confirm the feasibility of the proposed design. The dynamic simulations have been also used for studying the movement characteristics of CaPaMan2bis parallel manipulator in a humanoid robot structure. Improvements have been illustrated for the trunk sub-system as suggested by simulation results

Keywords

humanoid robots; manipulators; mobile robots; CaPaMan2bis; Cassino low-cost humanoid robot; Cassino parallel manipulator version 2bis; trunk module; Humanoid robots; Humans; Joining processes; Kinematics; Leg; Legged locomotion; Manipulator dynamics; Mechatronics; Parallel robots; Prototypes; CALUMA; CaPaMan2bis; humanoid; parallel manipulator; trunk module;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2006 IEEE Conference on

Conference_Location

Bangkok

Print_ISBN

1-4244-0024-4

Electronic_ISBN

1-4244-0025-2

Type

conf

DOI

10.1109/RAMECH.2006.252647

Filename

4018763