In this paper, CaPaMan2bis (Cassino Parallel Manipulator version 2bis) has been analysed as trunk subsystem in CALUMA (Cassino Low-cost hUMAnoid) robot. Dynamic simulations have been developed for an operation of CaPaMan2bis as trunk module of CALUMA has been checked. Specifically, simulations for walking and grasping have been carried out to evaluate CALUMA performance. Simulations have given results that confirm the feasibility of the proposed design. The dynamic simulations have been also used for studying the movement characteristics of CaPaMan2bis parallel manipulator in a humanoid robot structure. Improvements have been illustrated for the trunk sub-system as suggested by simulation results.

CaPaMan2bis as Trunk module in CALUMA (CAssino Low-cost hUMAnoid robot)

NAVA RODRIGUEZ, Nestor Eduardo;Giuseppe, Carbone;Marco, Ceccarelli
2006-01-01

Abstract

In this paper, CaPaMan2bis (Cassino Parallel Manipulator version 2bis) has been analysed as trunk subsystem in CALUMA (Cassino Low-cost hUMAnoid) robot. Dynamic simulations have been developed for an operation of CaPaMan2bis as trunk module of CALUMA has been checked. Specifically, simulations for walking and grasping have been carried out to evaluate CALUMA performance. Simulations have given results that confirm the feasibility of the proposed design. The dynamic simulations have been also used for studying the movement characteristics of CaPaMan2bis parallel manipulator in a humanoid robot structure. Improvements have been illustrated for the trunk sub-system as suggested by simulation results.
2006
1-4244-0024-4
1-4244-0025-2
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11580/66088
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 22
social impact