HBS-1: A Modular Child-Size 3D Printed Humanoid

Wu, Lianjun; Larkin, Miles; Potnuru, Akshay; Tadesse, Yonas

doi:10.3390/robotics5010001

Cited by 21 publications

(15 citation statements)

References 72 publications

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“…The TCP muscles were recently integrated in musculoskeltal system for humanoid [40], artificial skin [41], tensegrity robot [42], prosthetic hand [43] and even for energy harvesting [44]; they can be tailored as potential actuator for small crawling robot [45], robotic octopus arm [46] and bio-inspired legged robots [47]. In this paper, we developed a five-finger underactuated humanoid hand (TCP Hand) that is electrothermally powered by TCP muscles of a child-sized humanoid called HBS-1 [48]. Given the limited volume of the hand and forearm in our pediatric model, it would have been difficult to incorporate expensive traditional motors.…”

Section: Introductionmentioning

confidence: 99%

Compact and low-cost humanoid hand powered by nylon artificial muscles

et al. 2017

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This paper focuses on design, fabrication and characterization of a biomimetic, compact, low-cost and lightweight 3D printed humanoid hand (TCP Hand) that is actuated by twisted and coiled polymeric (TCP) artificial muscles. The TCP muscles were recently introduced and provided unprecedented strain, mechanical work, and lifecycle (Haines et al 2014 Science 343 868-72). The five-fingered humanoid hand is under-actuated and has 16 degrees of freedom (DOF) in total (15 for fingers and 1 at the palm). In the under-actuated hand designs, a single actuator provides coupled motions at the phalanges of each finger. Two different designs are presented along with the essential elements consisting of actuators, springs, tendons and guide systems. Experiments were conducted to investigate the performance of the TCP muscles in response to the power input (power magnitude, type of wave form such as pulsed or square wave, and pulse duration) and the resulting actuation stroke and force generation. A kinematic model of the flexor tendons was developed to simulate the flexion motion and compare with experimental results. For fast finger movements, short high-power pulses were employed. Finally, we demonstrated the grasping of various objects using the humanoid TCP hand showing an array of functions similar to a natural hand.

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Section: Introductionmentioning

confidence: 99%

Compact and low-cost humanoid hand powered by nylon artificial muscles

et al. 2017

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“…HBS1 is another 3D printed humanoid robot that is controlled by a USB2Dynamixel and a Pololu mini Maestro servo controller [92,93]. The robot has two cameras with IEEE 1394 in the eyes.…”

Section: Related Work On Small Social Robotsmentioning

confidence: 99%

A wearable sensor vest for social humanoid robots with GPGPU, IoT, and modular software architecture

Jafarzadeh

Brooks

et al. 2021

Robotics and Autonomous Systems

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“…3D printing allows for fast production times of highly complex parts and an easy transition from prototyping to production. In short time, several 3D-printed humanoid robots of various sizes have been designed and built [85][86] [87][39] [40]. The freedom presented through 3Dprinting can be exploited either by an expert fine-tuning design details or by algorithms.…”

Section: Manufacturingmentioning

confidence: 99%

Bipedal Humanoid Hardware Design: A Technology Review

Ficht¹,

Behnke²

2021

Preprint

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Purpose of ReviewAs new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available technologies is necessary. This article intends to provide an analysis on the established approaches and contrast them with emerging ones. Recent Findings A clear shift in the recent design features of humanoid robots is developing, which is supported by literature. As humanoid robots are meant to leave laboratories and traverse the world, compliance and more efficient locomotion is necessary. The limitations of highly rigid actuation are being tackled by different research groups in unique ways. Some focus on modifying the kinematic structure, while others change the actuation scheme. With new manufacturing capabilities, previously impossible designs are becoming feasible. Summary A comprehensive review on the technologies crucial for bipedal humanoid robots was performed. Different mechanical concepts have been discussed, along with the advancements in actuation, sensing and manufacturing. The paper is supplemented with a list of the recently developed platforms along with a selection of their specifications.

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HBS-1: A Modular Child-Size 3D Printed Humanoid

Cited by 21 publications

References 72 publications

Compact and low-cost humanoid hand powered by nylon artificial muscles

Compact and low-cost humanoid hand powered by nylon artificial muscles

A wearable sensor vest for social humanoid robots with GPGPU, IoT, and modular software architecture

Bipedal Humanoid Hardware Design: A Technology Review

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