Design and Experiments of a Novel Humanoid Robot with Parallel Architectures

Author:

Russo Matteo,Cafolla Daniele,Ceccarelli MarcoORCID

Abstract

In this paper, the mechanical design of the LARMbot 2, a low-cost user-oriented humanoid robot was presented. LARMbot 2 is characterized by parallel architectures for both the torso and legs. The proposed design was presented with the kinematics of its main parts—legs, torso, arms—and then compared to its previous version, which was characterized by a different leg mechanism, to highlight the advantages of the latest design. A prototype was then presented, with constructive details of its subsystems and its technical specifications. To characterize the performance of the proposed robot, experimental results were presented for both the walking and weight-lifting operations.

Publisher

MDPI AG

Subject

Artificial Intelligence,Control and Optimization,Mechanical Engineering

Cited by 26 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Design and Testing of a New LARMbot Torso;Journal of Mechanisms and Robotics;2024-02-01

2. A History of LARMbot Humanoid;History of Mechanism and Machine Science;2024

3. Design and Test Validation of Humanoid Tripod-Based Limbs;Mechanisms and Machine Science;2024

4. Experimental Characterization of a Tripod-Based Design for a LARMbot Humanoid Arm;Mechanisms and Machine Science;2024

5. Modular Design of LARMbot Humanoid;Mechanisms and Machine Science;2024

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