Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype
An artificial torso is a fundamental part of a humanoid robot for imitating human actions. In this paper, a prototype of CAUTO (CAssino hUmanoid TOrso) is presented. Its design is characterized by artificial vertebras actuated by cable-driven parallel manipulators. The design was conceived by lookin...
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| Format: | Article |
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MDPI AG
2017-08-01
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| Series: | Inventions |
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| Online Access: | https://www.mdpi.com/2411-5134/2/3/17 |
| _version_ | 1828182104027955200 |
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| author | Daniele Cafolla Marco Ceccarelli |
| author_facet | Daniele Cafolla Marco Ceccarelli |
| author_sort | Daniele Cafolla |
| collection | DOAJ |
| description | An artificial torso is a fundamental part of a humanoid robot for imitating human actions. In this paper, a prototype of CAUTO (CAssino hUmanoid TOrso) is presented. Its design is characterized by artificial vertebras actuated by cable-driven parallel manipulators. The design was conceived by looking at the complex system and functioning of the human torso, in order to develop a solution for basic human-like behavior. The requirements and kinematic structure are introduced to explain the peculiarities of the proposed mechanical design. A prototype is presented, and built with low-cost and high-performance features. Tests results are reported to show the feasibility and the characteristics in replicating human torso motions. In addition, the power consumption has been measured during the tests to prove the efficiency of the Li-Po battery supply, employed for a fully portable solution of the designed torso. |
| first_indexed | 2024-04-12T06:11:54Z |
| format | Article |
| id | doaj.art-9dcbd751184941d8b5d866b25bbca4a7 |
| institution | Directory Open Access Journal |
| issn | 2411-5134 |
| language | English |
| last_indexed | 2024-04-12T06:11:54Z |
| publishDate | 2017-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Inventions |
| spelling | doaj.art-9dcbd751184941d8b5d866b25bbca4a72022-12-22T03:44:40ZengMDPI AGInventions2411-51342017-08-01231710.3390/inventions2030017inventions2030017Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) PrototypeDaniele Cafolla0Marco Ceccarelli1Laboratory of Robotics and Mechatronics (LARM), DICEM, University of Cassino and South Latium, 03043 Cassino, ItalyLaboratory of Robotics and Mechatronics (LARM), DICEM, University of Cassino and South Latium, 03043 Cassino, ItalyAn artificial torso is a fundamental part of a humanoid robot for imitating human actions. In this paper, a prototype of CAUTO (CAssino hUmanoid TOrso) is presented. Its design is characterized by artificial vertebras actuated by cable-driven parallel manipulators. The design was conceived by looking at the complex system and functioning of the human torso, in order to develop a solution for basic human-like behavior. The requirements and kinematic structure are introduced to explain the peculiarities of the proposed mechanical design. A prototype is presented, and built with low-cost and high-performance features. Tests results are reported to show the feasibility and the characteristics in replicating human torso motions. In addition, the power consumption has been measured during the tests to prove the efficiency of the Li-Po battery supply, employed for a fully portable solution of the designed torso.https://www.mdpi.com/2411-5134/2/3/17humanoid robotshumanoid torsoparallel manipulatorsdesignperformance evaluationexperimental robotics |
| spellingShingle | Daniele Cafolla Marco Ceccarelli Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype Inventions humanoid robots humanoid torso parallel manipulators design performance evaluation experimental robotics |
| title | Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype |
| title_full | Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype |
| title_fullStr | Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype |
| title_full_unstemmed | Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype |
| title_short | Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype |
| title_sort | characteristics and performance of cauto cassino humanoid torso prototype |
| topic | humanoid robots humanoid torso parallel manipulators design performance evaluation experimental robotics |
| url | https://www.mdpi.com/2411-5134/2/3/17 |
| work_keys_str_mv | AT danielecafolla characteristicsandperformanceofcautocassinohumanoidtorsoprototype AT marcoceccarelli characteristicsandperformanceofcautocassinohumanoidtorsoprototype |