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Keywords = LARMbot humanoid

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10 pages, 3290 KB  
Article
Design of a Tripod LARMbot Arm
by Marco Ceccarelli, Steven Beaumont and Matteo Russo
Actuators 2024, 13(6), 211; https://doi.org/10.3390/act13060211 - 5 Jun 2024
Cited by 2 | Viewed by 2082
Abstract
A new design for humanoid arms is presented based on a tripod mechanism that is actuated by linear servomotors. A specific prototype is built and tested, with the results of performance characterization verifying a possible implementation on the LARMbot humanoid. The design solves [...] Read more.
A new design for humanoid arms is presented based on a tripod mechanism that is actuated by linear servomotors. A specific prototype is built and tested, with the results of performance characterization verifying a possible implementation on the LARMbot humanoid. The design solves the main requirements in terms of a high payload ratio with respect to arm weight by using a tripod architecture with parallel manipulator behavior. The built prototype is assembled with commercial components to match the expectations for low-cost user-oriented features. The test results show satisfactory operation characteristics both in motion and force performance, which will ensure a future successful implementation in the LARMbot humanoid structure. Full article
(This article belongs to the Special Issue Advanced Robots: Design, Control and Application—2nd Edition)
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19 pages, 6068 KB  
Article
Design and Performance Analysis of LARMbot Torso V1
by Wenshuo Gao and Marco Ceccarelli
Micromachines 2022, 13(9), 1548; https://doi.org/10.3390/mi13091548 - 18 Sep 2022
Cited by 8 | Viewed by 2617
Abstract
In this paper, laboratory experiments of LARMbot torso V1 are reported in the third mode, thereby providing a testing characterization. Sensors were used to measure parameters including the contact force between the shoulder and cables, linear acceleration, angles of the torso body, and [...] Read more.
In this paper, laboratory experiments of LARMbot torso V1 are reported in the third mode, thereby providing a testing characterization. Sensors were used to measure parameters including the contact force between the shoulder and cables, linear acceleration, angles of the torso body, and power consumption. The results showed that the LARMbot torso V1 can bend successfully to the desired angles, and that it is able to complete a full motion smoothly. The LARMbot torso V1 can mimic human-like motiaons. Based on our analysis of the test results, improvements are suggested, and new designs are considered. Full article
(This article belongs to the Special Issue New Advances in Biomimetic Robots)
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16 pages, 6845 KB  
Article
Parallel Architectures for Humanoid Robots
by Marco Ceccarelli, Matteo Russo and Cuauhtemoc Morales-Cruz
Robotics 2020, 9(4), 75; https://doi.org/10.3390/robotics9040075 - 23 Sep 2020
Cited by 28 | Viewed by 9266
Abstract
The structure of humanoid robots can be inspired to human anatomy and operation with open challenges in mechanical performance that can be achieved by using parallel kinematic mechanisms. Parallel mechanisms can be identified in human anatomy with operations that can be used for [...] Read more.
The structure of humanoid robots can be inspired to human anatomy and operation with open challenges in mechanical performance that can be achieved by using parallel kinematic mechanisms. Parallel mechanisms can be identified in human anatomy with operations that can be used for designing parallel mechanisms in the structure of humanoid robots. Design issues are outlined as requirements and performance for parallel mechanisms in humanoid structures. The example of LARMbot humanoid design is presented as from direct authors’ experience to show an example of the feasibility and efficiency of using parallel mechanisms in humanoid structures. This work is an extension of a paper presented at ISRM 2019 conference (International Symposium on Robotics and Mechatronics). Full article
(This article belongs to the Special Issue Theory and Practice on Robotics and Mechatronics)
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14 pages, 5553 KB  
Article
Design and Experiments of a Novel Humanoid Robot with Parallel Architectures
by Matteo Russo, Daniele Cafolla and Marco Ceccarelli
Robotics 2018, 7(4), 79; https://doi.org/10.3390/robotics7040079 - 4 Dec 2018
Cited by 30 | Viewed by 10490
Abstract
In this paper, the mechanical design of the LARMbot 2, a low-cost user-oriented humanoid robot was presented. LARMbot 2 is characterized by parallel architectures for both the torso and legs. The proposed design was presented with the kinematics of its main parts—legs, torso, [...] Read more.
In this paper, the mechanical design of the LARMbot 2, a low-cost user-oriented humanoid robot was presented. LARMbot 2 is characterized by parallel architectures for both the torso and legs. The proposed design was presented with the kinematics of its main parts—legs, torso, arms—and then compared to its previous version, which was characterized by a different leg mechanism, to highlight the advantages of the latest design. A prototype was then presented, with constructive details of its subsystems and its technical specifications. To characterize the performance of the proposed robot, experimental results were presented for both the walking and weight-lifting operations. Full article
(This article belongs to the Special Issue Mechanism Design for Robotics)
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