An extensive research activity has been focused on the upper and lower limbs of humanoid robots. However, due tomechanical design difficulties and complex control of multi-body system, the torso of humanoid robot is somehow a neglected orsimplified design part. In this paper, operation performance of a new waist-trunk system as torso for humanoid robots is presentedthrough results of lab experimental tests. The proposed waist-trunk system is composed of two 3 DOFs (degrees of freedom) parallelmanipulators, which are connected in a serial chain architecture. A prototype is built by using two prototypes of CaPaMan (CassinoParallel Manipulator), which are convenient stiff architectures with easy-operation characteristics. Experimental tests are carried outwith the aims to imitate lateral-bending and transverse-rotation movements of human torso. Operation performances like displacements,accelerations, and actuation torque are measured for a performance evaluation and design characterization of the used manipulatorsolution imitating human torso. Experimental test results are illustrated and discussed to show the practical operation feasibility of theproposed architecture and the operation characteristics of the built prototype.
Experimental Characterization of Operation of a Waist-Trunk System with Parallel Manipulators
G. CARBONE
2011-01-01
Abstract
An extensive research activity has been focused on the upper and lower limbs of humanoid robots. However, due tomechanical design difficulties and complex control of multi-body system, the torso of humanoid robot is somehow a neglected orsimplified design part. In this paper, operation performance of a new waist-trunk system as torso for humanoid robots is presentedthrough results of lab experimental tests. The proposed waist-trunk system is composed of two 3 DOFs (degrees of freedom) parallelmanipulators, which are connected in a serial chain architecture. A prototype is built by using two prototypes of CaPaMan (CassinoParallel Manipulator), which are convenient stiff architectures with easy-operation characteristics. Experimental tests are carried outwith the aims to imitate lateral-bending and transverse-rotation movements of human torso. Operation performances like displacements,accelerations, and actuation torque are measured for a performance evaluation and design characterization of the used manipulatorsolution imitating human torso. Experimental test results are illustrated and discussed to show the practical operation feasibility of theproposed architecture and the operation characteristics of the built prototype.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
