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LARM PKM solutions for torso design in humanoid robots

Marco CECCARELLI

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 4, Pages 308-316 doi: 10.1007/s11465-014-0318-6

Abstract:

Human-like torso features are essential in humanoid robots.

Keywords： humanoid robots torso design parallel manipulators (PKM) conceptual design

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A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 1, doi: 10.1007/s11465-022-0722-2

Abstract: This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms (APMsLast, a humanoid arm prototype was developed, and the assembly velocity, joint motion performance, jointstiffness, load carrying, typical humanoid arm movements, and repeatability were tested to verify the

Keywords： modular robotic arm anti-parallelogram mechanism Bowden cable humanoid arm lightweight joint design

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Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0696-0

Abstract: Wearing a humanoid prosthetic hand would be an effective way of restoring lost hand functions.a function-oriented optimization design (FOD) method is proposed for the design of a tendon-driven humanoid

Keywords： function-oriented tendon driven prosthetic hand optimization humanoid underactuated

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Ahybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundant humanoid

Zi-wu REN,Zhen-hua WANG,Li-ning SUN

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 7, Pages 607-616 doi: 10.1631/FITEE.14a0335

Abstract: The redundant humanoid manipulator has characteristics of multiple degrees of freedom and complex jointThe inverse kinematics problem of a humanoid manipulator can be formulated as an equivalent minimizationinspired optimization algorithm, and it can be adopted to solve the inverse kinematics problem of a humanoidBased on these, an 8-DOF (degree of freedom) redundant humanoid manipulator is employed as an exampleThe end-effector error (position and orientation) and the ‘away limitation level’ value of the 8-DOF humanoid

Keywords： Inverse kinematics problem 8-DOF humanoid manipulator Biogeography-based optimization (BBO) Differential

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Superunderactuated Multifingered Hand for Humanoid Robot

ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 1, Pages 33-39 doi: 10.1007/s11465-005-0015-6

Abstract: Finger mechanism was incorporated into a humanoid robot hand to obtain more degrees of freedom with lessA novel superunderactuated multifingered hand (TH-2 Hand) for a humanoid robot was designed based onThe TH-2 Hand was attached to a humanoid robot because of its high personification, superunderactuation

Keywords： control real-time control superunderactuation TH-2 personification

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An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1, Pages 95-103 doi: 10.1007/s11465-013-0357-4

Abstract:

In this paper, an experimental analysis of human straight walking has been presented. Experiments on human walking were carried out by using Cassino tracking system which is a passive cable-based measuring system. This system is adopted because it is capable of both pose and wrench measurements with fairly simple monitoring of operation. By using experimental results, trajectories of a human limb extremity and its posture have been analyzed; forces that are exerted against cables by the limb of a person under test have been measured by force sensors as well. Furthermore, by using experimental tests, modeling and characterization of the human straight walking gait have been proposed.

Keywords： human locomotion walking gait characterization humanoid robot biped robot

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DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking Article

Hongfei Wang, Shimeng Li, Yuan F. Zheng

Engineering 2015, Volume 1, Issue 1, Pages 36-45 doi: 10.15302/J-ENG-2015006

Abstract: We also introduce a new gait for humanoid robot locomotion to improve stability performance, called thetorque analysis, we design a cane length to support a feasible and stable Crawl-2 gait on the HUBO2 humanoid

Keywords： humanoid robot DARPA robotics challenge (DRC) rough-terrain walking Ski-Type gait