Title :
CaPaMan2bis as Trunk module in CALUMA (CAssino Low-cost hUMAnoid robot)
Author :
Eduardo, Nava Rodriguez Nestor ; Giuseppe, Carbone ; Marco, Ceccarelli
Author_Institution :
Lab. of Robotics & Mechatronics, Cassino Univ.
Abstract :
In this paper, CaPaMan2bis (Cassino parallel manipulator version 2bis) has been analysed as trunk subsystem in CALUMA (Cassino low-cost humanoid) robot. Dynamic simulations have been developed for an operation of CaPaMan2bis as trunk module of CALUMA has been checked. Specifically, simulations for walking and grasping have been carried out to evaluate CALUMA performance. Simulations have given results that confirm the feasibility of the proposed design. The dynamic simulations have been also used for studying the movement characteristics of CaPaMan2bis parallel manipulator in a humanoid robot structure. Improvements have been illustrated for the trunk sub-system as suggested by simulation results
Keywords :
humanoid robots; manipulators; mobile robots; CaPaMan2bis; Cassino low-cost humanoid robot; Cassino parallel manipulator version 2bis; trunk module; Humanoid robots; Humans; Joining processes; Kinematics; Leg; Legged locomotion; Manipulator dynamics; Mechatronics; Parallel robots; Prototypes; CALUMA; CaPaMan2bis; humanoid; parallel manipulator; trunk module;
Conference_Titel :
Robotics, Automation and Mechatronics, 2006 IEEE Conference on
Conference_Location :
Bangkok
Print_ISBN :
1-4244-0024-4
Electronic_ISBN :
1-4244-0025-2
DOI :
10.1109/RAMECH.2006.252647