2014年 第9卷 第4期
《机械工程前沿（英文）》 >> 2014年 第9卷 第4期 doi: 10.1007/s11465-014-0318-6
LARM PKM solutions for torso design in humanoid robots
Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Cassino 03043, Italy
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摘要
Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.
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