Abstract
The structure of humanoid robots can be inspired to human anatomy and operation with open challenges in mechanical performance that can be achieved by using parallel kinematic mechanisms. Parallel mechanisms can be identified in human anatomy with operations that can be used for designing parallel mechanisms in the structure of humanoid robots. Design issues are outlined as requirements and performance for parallel mechanisms in humanoid structures. The example of LARMbot humanoid design is presented as from direct authors’ experience to show an example of the feasibility and efficiency of using parallel mechanisms in humanoid structures. This work is an extension of a paper presented at ISRM 2019 conference (International Symposium on Robotics and Mechatronics).
Highlights
The first anthropomorphic humanoid robot, WABOT-1, was built at Waseda University, Tokyo, as part of the WABOT project (1970)
Sensing in humanoid robots can be considered as being integrated with the capabilities in locomotion and manipulation, as well as additional features, which are based on the biomechanics of the structure and their operation, so that sensor equipment is needed with characteristics and composition, as outlined in Figure 5, for the main human-like operation
This paper described how parallel mechanisms can be used in humanoid robots in order to improve their structure and operation performance as inspired by human anatomy
Summary
The first anthropomorphic humanoid robot, WABOT-1, was built at Waseda University, Tokyo, as part of the WABOT project (1970). ASIMO was officially unveiled in 2000 and had a significant impact on the media all around the world It is a humanoid platform with an advanced vision and navigation system, able to interpret voice or gesture commands and to move autonomously with a semi-dynamic walking mode. Most of them are based on a serial kinematic chain with spherical-revolute-universal (SRU) joints for their limbs This mechanical structure is fairly easy to manufacture and control, while offering a large workspace for its size. Serial architectures are outperformed by parallel mechanisms in accuracy, speed, stiffness and payload. Each robot is classified according to its kinematic architecture (serial or parallel), system weight and height, maximum step size, maximum gait speed, degrees-of-freedom of each leg and year of production.
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