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.
|Título de la publicación alojada||2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings|
|Editores||Eugenio Yime, Diego Patino|
|Editorial||Institute of Electrical and Electronics Engineers Inc.|
|Número de páginas||6|
|ISBN (versión digital)||9781538603987|
|Estado||Publicada - 30 ene. 2018|
|Evento||3rd IEEE Colombian Conference on Automatic Control, CCAC 2017 - Cartagena, Colombia|
Duración: 18 oct. 2017 → 20 oct. 2017
Serie de la publicación
|Nombre||2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings|
|Conferencia||3rd IEEE Colombian Conference on Automatic Control, CCAC 2017|
|Período||18/10/17 → 20/10/17|
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© 2017 IEEE.