LARM PKM solutions for torso design in humanoid robots

Marco CECCARELLI

Front. Mech. Eng. ›› 2014, Vol. 9 ›› Issue (4) : 308 -316.

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Front. Mech. Eng. ›› 2014, Vol. 9 ›› Issue (4) : 308 -316. DOI: 10.1007/s11465-014-0318-6
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LARM PKM solutions for torso design in humanoid robots

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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.

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humanoid robots / torso design / parallel manipulators (PKM) / conceptual design

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Marco CECCARELLI. LARM PKM solutions for torso design in humanoid robots. Front. Mech. Eng., 2014, 9(4): 308-316 DOI:10.1007/s11465-014-0318-6

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