Abstract
Developing a robotic torso mechanism is critical to fully replicate human mobility in humanoid robots. The LARMbot humanoid's torso was presented as a solution in previous works, and it is now improved with the novel design here proposed. In this paper, a kinematic analysis is conducted on the new design of the LARMbot torso, which is developed by analyzing the structure of a human spine. A kinematic model of the new design is proposed by using piecewise constant curvature to obtain the relation between input and output parameters and plot the workspace. Results show that the new LARMbot torso design can improve working performance. This model can also provide parameters for testing a manufactured humanoid torso prototype.
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Acknowledgments
The first author thankfully acknowledges the China Scholarship Council for Grant No. 202103250021, supporting his PhD study at University of Rome Tor Vergata from 2021 to 2024.
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Gao, W., Russo, M., Ceccarelli, M. (2023). A Kinematic Analysis of a New LARMbot Torso Design. In: Laribi, M.A., Nelson, C.A., Ceccarelli, M., Zeghloul, S. (eds) New Advances in Mechanisms, Transmissions and Applications. MeTrApp 2023. Mechanisms and Machine Science, vol 124. Springer, Cham. https://doi.org/10.1007/978-3-031-29815-8_8
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DOI: https://doi.org/10.1007/978-3-031-29815-8_8
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