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Frontiers of Mechanical Engineering

ISSN 2095-0233

ISSN 2095-0241(Online)

CN 11-5984/TH

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Front. Mech. Eng.    2014, Vol. 9 Issue (4) : 308-316    https://doi.org/10.1007/s11465-014-0318-6
REVIEW ARTICLE
LARM PKM solutions for torso design in humanoid robots
Marco CECCARELLI()
Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Cassino 03043, Italy
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Abstract

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.
Keywords humanoid robots      torso design      parallel manipulators (PKM)      conceptual design     
Corresponding Author(s): Marco CECCARELLI   
Online First Date: 01 December 2014    Issue Date: 19 December 2014
 Cite this article:   
Marco CECCARELLI. LARM PKM solutions for torso design in humanoid robots[J]. Front. Mech. Eng., 2014, 9(4): 308-316.
 URL:  
https://academic.hep.com.cn/fme/EN/10.1007/s11465-014-0318-6
https://academic.hep.com.cn/fme/EN/Y2014/V9/I4/308
Fig.1  Anatomy of human torso. (a) Skeleton structure; (b) muscle system
Fig.2  A scheme for torso main features towards robot design
Sagittal plane Coronal plane Transverse plane
Flexion extension Lateral bending Transverse rotation
back
30°		 Front
45°		 Left
40°		 Right
40°		 Left
50°		 Right
50°
Tab.1  Motion ranges of human torso in three body planes
Fig.3  A scheme for platform identification in human torso
Fig.4  A design scheme for humanoid torso in Wabian 2 in 2005 [22]
Fig.5  A conceptual design for a torso humanoid design with waist and trunk mechanisms
Year Short description Reference Figure
2001 First conceptual design with LARM prototypes [25] 6
2003 CALUMA design [26−28] 7
2008 LARM waist-trunk system [21,29] 3, 8
2010 trunk design with two CaPaMan structures [30] 9
2013 CaPaMan 2 with simplified waist [31] 10
Tab.2  Chronicle of LARM PKM solutions for humanoid torso
Fig.6  A scheme of humanoid robot with CaPaMan-based trunk design and other LARM structures as conceived in 2001 [25]
Fig.7  CALUMA design developed since 2003 [26]. (a) Torso design as CaPaMan 2bis structure; (b) the whole humanoid robot
Fig.8  A LARM waist-trunk system with parallel manipulator architectures as developed for humanoid robot since 2008 [21]. (a) The PKM design; (b) the whole humanoid robot
Fig.9  A waist-trunk system by using two CaPaMan manipulators as experienced in 2010 [30]. (a) A kinematic scheme; (b) the experimental set up
Fig.10  A simplified waist-trunk design by using CaPaMan 2bis structure and reduced waist body as conceived in 2013 [31]. (a) A CAD scheme; (b) a rapid prototyping design
Fig.11  The new conceptual trunk-waist design under development at LARM with two PKM modules
Fig.12  A design of PKM module of humanoid torso under development at LARM in Fig. 11. (a) A kinematic scheme for 3 d.o.f.s solution; (b) a CAD design for rapid prototyping of a 2 d.o.f.s solution
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