Title :
A new leg design with parallel mechanism architecture
Author :
Marco, Ceccarelli ; Giuseppe, Carbone
Author_Institution :
LARM: Lab. of Robot. & Mechatron., Univ. of Cassino, Cassino, Italy
Abstract :
In this paper we have investigated the possibility of using parallel manipulator architectures for leg design in legged walking robots as inspired from the leg human muscular system. Proposed kinematic designs are presented with their basic features and performance with the aim to identify a solution with cost-oriented user-friendly characteristics as a leg module for biped robots but also for multi-legged walking machines.
Keywords :
humanoid robots; legged locomotion; manipulator kinematics; biped robot; cost-oriented user-friendly characteristics; humanoid robot; kinematic design; leg design; leg human muscular system; legged walking robot; multilegged walking machine; parallel manipulator architecture; Humanoid robots; Humans; Intelligent robots; Kinematics; Leg; Legged locomotion; Mechatronics; Muscles; Parallel architectures; Parallel robots; Humanoid robots; Kinematic Architectures; Leg Designs; Walking machines;
Conference_Titel :
Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-2852-6
DOI :
10.1109/AIM.2009.5229859
