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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Eduardo, N.R.N. Giuseppe, C. Marco, C. |
| Copyright Year | 2006 |
| Description | Author affiliation: Lab. of Robotics & Mechatronics, Cassino Univ. (Eduardo, N.R.N.; Giuseppe, C.; Marco, C.) |
| 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 |
| Sponsorship | IEEE Singapore Sect. IEEE Singapore SMC Chap. IEEE Singapore RA Chap |
| Starting Page | 1 |
| Ending Page | 6 |
| File Size | 1543733 |
| Page Count | 6 |
| File Format | |
| ISBN | 1424400244 |
| DOI | 10.1109/RAMECH.2006.252647 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2006-06-01 |
| Publisher Place | Thailand |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Humanoid robots Prototypes Manipulator dynamics Leg Parallel robots Kinematics Mechatronics Legged locomotion Humans Joining processes CaPaMan2bis humanoid CALUMA trunk module parallel manipulator |
| Content Type | Text |
| Resource Type | Article |
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