A mechanism design of a chest sub-system for humanoid robots

Author

Nava, Nestor E R ; Abderrahim, Mohamed ; Moreno, Luis

Author_Institution

Robot. Lab., Carlos III Univ., Leganes, Spain

fYear

2009

fDate

14-17 July 2009

Firstpage

1619

Lastpage

1624

Abstract

We present the design issue of a chest mechanism for a humanoid robot. The chest design has presented robustness and compactness for the assembly that is composed mainly of commercial components. The proposed chest has been considered for an application in the iCub humanoid structure. A 3D-CAD model of iCub with a chest mechanism has been used for simulating the chest sub-system operation. The feasibility of the new design has been validated through dynamic simulations. The satisfactory results have been shown through plots with smooth shapes of curve evolutions and suitable values of significant kinematic and dynamic parameters of the proposed structure.

Keywords

CAD; control engineering computing; control system synthesis; humanoid robots; robust control; solid modelling; 3D-CAD model; chest subsystem; compactness; humanoid robots; iCub; mechanism design; robustness; Arm; Educational institutions; Humanoid robots; Intelligent robots; Mechatronics; Muscles; Robotic assembly; Robustness; Shape; Shoulder;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-2852-6

Type

conf

DOI

10.1109/AIM.2009.5229821

Filename

5229821