Title :
Biomimetic inspiration for PKM torso design in humanoid robots
Author :
Hulin Huang ; Marco, Ceccarelli ; Weimin Zhang ; Qiang Huang ; Zhangguo Yu ; Xuechao Chen
Author_Institution :
Sch. of Mechatronical Eng., Intell. Robot. Inst., Beijing, China
Abstract :
A new torso design of humanoid robot is proposed as a 3-DOF PKM (Parallel Kinematic Manipulator) structure by using results of a biomimetic analysis of torso in humans and animals. Main characteristics of torso in nature are presented from which design requirements are outlined for a solution in humanoid robot. The PKM torso is consist of two platforms and four UPU mechanisms. The usefulness of such a biomimetic inspiration is proved by a numerical simulation of the proposed PKM torso in its basic movements.
Keywords :
design engineering; humanoid robots; manipulator kinematics; 3-DOF PKM; PKM torso design; UPU mechanism; biomimetic inspiration; humanoid robot; parallel kinematic manipulator; Horses; Humanoid robots; Joints; Payloads; Thorax; Torso; Biomimetic inspiration; Humanoid robot; PKM torso; Torso design;
Conference_Titel :
Mechatronics and Automation (ICMA), 2015 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-7097-1
DOI :
10.1109/ICMA.2015.7237646
