Mechatronic design of PRH: A NEW 3D printed and anthropometric humanoid robotic platform

Sergio Zapata; Ivan D. Mora; Gustavo Suarez

doi:10.1109/CCAC.2017.8276477

Mechatronic design of PRH: A NEW 3D printed and anthropometric humanoid robotic platform

Sergio Zapata, Ivan D. Mora, Gustavo Suarez

Research output: Chapter in Book/Report/Conference proceeding › Conference and proceedings › peer-review

Abstract

Bipedal locomotion is one of the main research focuses on humanoid robotics that has evolved towards new methods and prototypes, to successfully emulate the human gait. However, much of the research is done with low-cost robots with serious deficiencies in anthropometrics and biomechanics referred to the human body, that constraint the applicability of the research to further human scale prototypes or its use in new orthoses or prosthesis. This paper presents the design methodology of a 90-cm tall humanoid robotic platform, completely anthropometric, easy to assemble, modular, lightweight, inexpensive and produced mainly with 3D printing. The design comprises 56 degrees of freedom, being described primarily the development of the hardware of legs and some parts of the torso implied in bipedal locomotion. It is also explained the electronic architecture, sensors and power supply of the robot in order to execute stable gait patterns with the use of toe-off motion.

Original language	English
Title of host publication	2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings
Editors	Diego Patino, Eugenio Yime
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1-6
Number of pages	6
ISBN (Electronic)	9781538603987
DOIs	https://doi.org/10.1109/CCAC.2017.8276477
State	Published - 2 Jul 2017
Event	3rd IEEE Colombian Conference on Automatic Control, CCAC 2017 - Cartagena, Colombia Duration: 18 Oct 2017 → 20 Oct 2017

Publication series

Name	2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings
Volume	2018-January

Conference

Conference	3rd IEEE Colombian Conference on Automatic Control, CCAC 2017
Country/Territory	Colombia
City	Cartagena
Period	18/10/17 → 20/10/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

3D printing
Humanoid robots
anthropometry
legged locomotion
mechatronics

Access to Document

10.1109/CCAC.2017.8276477

Cite this

Zapata, S., Mora, I. D., & Suarez, G. (2017). Mechatronic design of PRH: A NEW 3D printed and anthropometric humanoid robotic platform. In D. Patino, & E. Yime (Eds.), 2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings (pp. 1-6). (2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCAC.2017.8276477

Zapata, Sergio ; Mora, Ivan D. ; Suarez, Gustavo. / Mechatronic design of PRH : A NEW 3D printed and anthropometric humanoid robotic platform. 2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings. editor / Diego Patino ; Eugenio Yime. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1-6 (2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings).

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Zapata, S, Mora, ID & Suarez, G 2017, Mechatronic design of PRH: A NEW 3D printed and anthropometric humanoid robotic platform. in D Patino & E Yime (eds), 2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings. 2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 1-6, 3rd IEEE Colombian Conference on Automatic Control, CCAC 2017, Cartagena, Colombia, 18/10/17. https://doi.org/10.1109/CCAC.2017.8276477

Mechatronic design of PRH: A NEW 3D printed and anthropometric humanoid robotic platform. / Zapata, Sergio; Mora, Ivan D.; Suarez, Gustavo.
2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings. ed. / Diego Patino; Eugenio Yime. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1-6 (2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference and proceedings › peer-review

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AB - Bipedal locomotion is one of the main research focuses on humanoid robotics that has evolved towards new methods and prototypes, to successfully emulate the human gait. However, much of the research is done with low-cost robots with serious deficiencies in anthropometrics and biomechanics referred to the human body, that constraint the applicability of the research to further human scale prototypes or its use in new orthoses or prosthesis. This paper presents the design methodology of a 90-cm tall humanoid robotic platform, completely anthropometric, easy to assemble, modular, lightweight, inexpensive and produced mainly with 3D printing. The design comprises 56 degrees of freedom, being described primarily the development of the hardware of legs and some parts of the torso implied in bipedal locomotion. It is also explained the electronic architecture, sensors and power supply of the robot in order to execute stable gait patterns with the use of toe-off motion.

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Zapata S, Mora ID, Suarez G. Mechatronic design of PRH: A NEW 3D printed and anthropometric humanoid robotic platform. In Patino D, Yime E, editors, 2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1-6. (2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings). doi: 10.1109/CCAC.2017.8276477

Mechatronic design of PRH: A NEW 3D printed and anthropometric humanoid robotic platform

Abstract

Publication series

Conference

Bibliographical note

Keywords

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