LARM PKM solutions for torso design in humanoid robots
Marco CECCARELLI
Front. Mech. Eng. ›› 2014, Vol. 9 ›› Issue (4) : 308 -316.
LARM PKM solutions for torso design in humanoid robots
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.
humanoid robots / torso design / parallel manipulators (PKM) / conceptual design
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