Abstract
This chapter is based within the study of the humanoid robots world and focuses specifically on the mechatronic study of them. From a scientific standpoint, will be represented mechanically this anthropomorphic robots (from now, called humanoid robots) as a final link in the evolutionary chain in robotics area. Likewise, the design of humanoid robots is based on a wide range of mechatronic disciplines (such as material science, mechanics, and even biomechanics), and we will try to describe them in this chapter. Therefore, the aim of this chapter is to approach progressively the problem of the humanoid robot design, using physical and mechanics concepts, interacting through analogies with the human body. The chapter begins making a further description of the humanoid robots world, showing the evolutionary process that have undergone this type of robots in recent years. With this run-through of the main important points, we try to describe a general procedure to find a key criteria for successful process design of humanoid robots. This “robot-making” process to explain an analysis with initial theoretical calculations that result in the selection of the various mechanical components of a humanoid robot (actuators, motors until structural components). Then, the objetive of this chapter is to present the comprehensive analysis of mechanical design of a humanoid robot that allows to know and quantify the variables you will encounter along the design process of this type of machines.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Aghili F, Buehler M, Hollerbach J (2000) Development of a high performance direct-drive joint. IEEE/RSJ International Conference on Intelligent Robots and Systems
Aguayo F, Soltero V (2002) Metodología del diseño Industrial. Un enfoque desde la Ingeniería Concurrente. Madrid
Alcaide Marzal J, Diego J, Artacho M (2001) Diseño de producto: Métodos y técnicas
Arbulú M, Pardos J, Cabás LM, Staroverov P, Kaynov D, Pérez C, Rodríguez MA, Balaguer C (2005) Rh-0 humanoid full size robot`s control strategy based on the lie logic technique. IEEE-RAS International Conference on Humanoid Robots.
Arbulú M, Prieto F, Cabás LM, Staroverov P, Kaynov D, Balaguer C (2005) Zmp human measure system. International Conference on Climbing and Walking Robots
Arbulú M, Cabás LM, Kaynov D, Staroverov P, Balaguer C (2007) Trends of new robotics platform, designing humanoid robot rh-1. CARS & FOF 07 23rd ISPE International Conference on CAD/CAM Robotics and Factories of the Future
Arbulú M, Kaynov D, Cabás LM, Staroverov P, Balaguer C (2007) Nuevas tendencias en plataformas de robótica, caso robot humanoide rh-1. Intercon 2007 XIV Congreso Internacional de Ingeniería Eléctrica, Electrónica y Sistemas
Artobolevsky I (1976) Mechanisms in modern engineering design 5(1)
Barrientos A, Penin LF, Balaguer C, Aracil R (1997) Fundamentos de Robótica
Barter JT (1957) Estimation of the mass of body segments. Wright-Patterson Air Force Base, Ohio
Belohoubek P, Valny M, Kolíbal Z, Krpec E (2002) Mechatronic optimization in robot development. Production Machines, Syst. & Robotics, Brno Univ. of Technol., Czech Republic; Industrial Technology, IEEE International Conference 2:747-750
Blanco D, Castejon C, Kadhim C, Moreno L (2005) Predesign of an anthropomorphic lightweight manipulator. International Conference on Climbing and Walking Robots
Caballero R, Armada M, Sánchez V (2000) Extending zero moment point to a segment using reduced order biped model. International Conference on Climbing and Walking Robots
Cabás LM (2009) Mecatrónica Bioinspirada de RH de Tamaño Natural. PhD Thesys, Carlos III University, Madrid
Cabás R, Cabás LM, Balaguer C (2006) Optimized design of the underactuated robotic hand. International Conference on Robotics and Automation
Carbone G, Lim H-O, Takanishi A, Ceccarelli M (2003) Stiffness analysis of the humanoid robot wabian riv: Modelling. International Conference on Robotics and Automation
Cartwright T (2001) Design and implementation of small scale joint controllers for a humanoid robot. University of Queensland
Chanchai C, Prabhas C (2001) Automatic synthesis of robot programs for a biped static walker by evolutionary computation. Asian Symposium on Industrial Automation and Robotics BITEC
Clauser C (1969) Weight, volume and center of mass of segments of the human body
Collins SH, Wisse M, Ruina A (2001) A three-dimensional passive-dynamic walking robot with two legs and knees. The International Journal of Robotics Research 20(7):607–615
Corporation AHM (2003) Asimo technical information
Craig JJ (1986) Introduction to Robotics: Mechanics and Control. Reading, MA
De la Guia I, Staroverov P, Arbulu M, Balaguer C (2002) Fast algorithm for kinematics problems solving of the low-cost legged robot leroi. Robotics Lab. Department of Systems Engineering and Automation, University Carlos III of Madrid, Spain
De Torre Doblas, S. Análisis dinámico del robot humanoide RH-0. PhD thesis, Universidad Carlos III de Madrid, 2003
Erbatur K, Okazaki A, Obiya K, Takahashi T, Kawamura A (2002) A study on the zero moment point measurement for biped walking robots. Advanced Motion Control, International Workshop 431-436
Espiau B, Sardain P (2000) The biped robot bip2000. Tech. rep
Faure F, Debunne G, Cani-Gascuel P, Multon F (1997) Dynamic analysis of human walking. Eurographics Workshop on Computer Animation and Simulation
Faure F, Debunne G, Cani-Gascuel P, Multon F (1997) Dynamic analysis of human walking. Eurographics Workshop on Computer Animation and Simulation
Featherstone R, Orin D (2000) Robot dynamics: Equations and algorithms. Int. Conf. Robotics & Automation 826–834
French MJ (1999) Conceptual design for engineers. The Design Council, London
Fukui T (2001) The honda humanoid robot. International Symposium on Robotics
Goswami A (1999) Foot-rotation indicator (fri) point: a new gait planning tool to evaluate postural stability of biped robots. Department of Computer and information science. University of Pennsylvania
Gravez F, Mohamed B, Ouezdou FB (2002) Dynamic simulation of a humanoid robot with four dof’s torso. International Conference on Robotics and Automation 1:511–516
Harada K, Kajita S, Kaneko K, Hirukawa H (2003) Zmp analysis for arm/leg coordination. International Conference on Intelligent Robots and Systems
Harada K, Kajita S, Kanehiro F, Fujiwara K, Kaneko K, Yokoi K, Hirukawa H (2004) Real-time planning of humanoid robot’s gait for force controlled manipulation. International Conference on Robotics and Automation
Kurazume R, Tanaka S, Yamashita M, Yoneda K (2005) Straight legged walking of a biped robot. Telecommunications in Japan under Strategic Information and Communications R&D Promotion Programme (SCOPE). International Conference on Intelligent Robots and Systems
Li Q, Takanishi A, Kato I (1991) A biped walking robot having a zmp measurement system using universal force-moment sensors. International Conference on Intelligent Robots and Systems 1568–1573
Marchese S, Muscato G, Virk G (2001) Dynamically stable trajectory synthesis for a biped robot during the single-support phase. International Conference on Advanced Intelligent Mechatronics 2:953–958
Featherstone R Robot dynamics algorithms
Wyeth GD, Kee M, Wagstaff N, Brewer J, StirZaker T, Cartwright BB Design of an autonomous humanoid robot. School Computer science and electrical engenieering, University of Queensland, Australia
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag London Limited
About this chapter
Cite this chapter
Cabás Ormaechea, L.M. (2011). Humanoid Robots. In: Nava Rodríguez, N. (eds) Advanced Mechanics in Robotic Systems. Springer, London. https://doi.org/10.1007/978-0-85729-588-0_1
Download citation
DOI: https://doi.org/10.1007/978-0-85729-588-0_1
Published:
Publisher Name: Springer, London
Print ISBN: 978-0-85729-587-3
Online ISBN: 978-0-85729-588-0
eBook Packages: EngineeringEngineering (R0)