LARM PKM solutions for torso design in humanoid robots

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.

Graphical abstract

Keywords

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

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2014 Higher Education Press and Springer-Verlag Berlin Heidelberg