Abstract:This paper deals with 2D simulations of a humanoid robot equipped with back bone pitch joints to study the advantages of having such a mechanism for daily human-like movements. The movements under investigation here involve knee flexion for sitting down on a chair or picking up objects on the floor. The model used for the humanoid robot is based on a kidsized human body. The trunk is decomposed into a thorax and a lumbar part. As the lumbar region is the most mobile part in the human vertebral column, vertebra… Show more
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