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Design and experiments of a humanoid torso based on biological features
1Laboratory of Robot Mechatronics, University of Rome Tor Vergata, 00133 Rome, Italy.
Bioinspiration & Biomimetics
|January 23, 2025
Summary
A novel LARMbot torso, inspired by human anatomy, utilizes a parallel cable-driven mechanism for enhanced humanoid robot mobility. This lightweight design offers flexible motion and low energy consumption for complex applications.
Area of Science:
- Robotics
- Biomechanical Engineering
- Mechanical Design
Background:
- The humanoid torso is critical for robot motion.
- Existing designs may lack biological adaptability and efficiency.
- Human torso and spine anatomy offers insights for improved robotic structures.
Purpose of the Study:
- To develop a new LARMbot torso with improved performance based on biological features.
- To design a parallel cable-driven mechanism for actuating the torso structure.
- To evaluate the working performance and characteristics of the proposed LARMbot torso.
Main Methods:
- Analysis of human torso and spine anatomy.
- Proposal and analysis of a parallel cable-driven actuation mechanism using servo motors and pulleys.
- Implementation of a closed-loop control system.
- Experimental evaluation of a manufactured prototype in three motion modes.
Main Results:
- The LARMbot torso successfully completed human-like motions and full rotation.
- Maximum bending angles reached 40 degrees (human-like) and 30 degrees (rotation).
- Low maximum cable tension (0.75 N) and power consumption (20.5 W) were recorded.
Conclusions:
- The LARMbot torso design is simplified, lightweight, and energy-efficient.
- It demonstrates flexible spatial motion performance suitable for complex scenarios.
- The design meets commercial requirements for humanoid robot torsos.
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