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Parallel Mechanism Designs for Humanoid Robots

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Robotics and Mechatronics (ISRM 2019)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 78))

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Abstract

The design of humanoid robots is inspired to human anatomy and operation with open challenges in mechanical performance that can be achieved by using parallel architectures. In this paper, parallel architectures are recognized in human anatomy and operations and they are used as inspiration for designing parallel mechanisms within humanoid robots. Requirements and performance of parallel mechanisms in humanoid designs are discussed. The example of LARMbot humanoid is reported to show the feasibility and efficiency of the proposed designs.

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Author information

Authors and Affiliations

  1. LARM2: Laboratory of Robot Mechatronics, University of Roma Tor Vergata, Viale del Politecnico 1, 00133, Rome, Italy

    Marco Ceccarelli & Matteo Russo

  2. Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China

    Marco Ceccarelli

  3. The Rolls-Royce UTC in Manufacturing and On-Wing Technology, University of Nottingham, Nottingham, NG8 1BB, UK

    Matteo Russo

Authors
  1. Marco Ceccarelli
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  2. Matteo Russo
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Corresponding author

Correspondence to Marco Ceccarelli .

Editor information

Editors and Affiliations

  1. School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, NSW, Australia

    Chin-Hsing Kuo

  2. Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan

    Pei-Chun Lin

  3. Department of Mechanical Engineering, National Central University, Taoyuan City, Taiwan

    Terence Essomba

  4. Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, New Taipei City, Taiwan

    Guan-Chen Chen

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Ceccarelli, M., Russo, M. (2020). Parallel Mechanism Designs for Humanoid Robots. In: Kuo, CH., Lin, PC., Essomba, T., Chen, GC. (eds) Robotics and Mechatronics. ISRM 2019. Mechanisms and Machine Science, vol 78. Springer, Cham. https://doi.org/10.1007/978-3-030-30036-4_23

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