Parallel Architectures for Humanoid Robots

Ceccarelli, Marco; Russo, Matteo; Morales-Cruz, Cuauhtémoc

doi:10.3390/robotics9040075

Cited by 29 publications

(16 citation statements)

References 24 publications

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“…Some mechanisms can be incorporated for specific joints, and some for whole legs. A Stewart platform type leg [20] might provide benefits in terms of loading capabilities, but the limited range of motion and lack of a knee joint do not translate to human-like capabilities [21].…”

Section: Mechanical Structurementioning

confidence: 99%

Bipedal Humanoid Hardware Design: a Technology Review

Ficht

Behnke

2021

Curr Robot Rep

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Purpose of Review As 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 are 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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Section: Mechanical Structurementioning

confidence: 99%

Bipedal Humanoid Hardware Design: a Technology Review

Ficht

Behnke

2021

Curr Robot Rep

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“…So the slope of this vector gives us a tangent of the angle which leads to calculate the roll angle. m z = y right eye − y left eye x right eye − x left eye (11) roll :…”

Section: ) Angle Along Zmentioning

confidence: 99%

“…Many mechanical systems have been proposed for mimicking the human movements which most of them are based on serial structures and a few of them are based on parallel ones [11]. In the preceding decades, several parallel robots have been developed to mimic human movements, such as leg or arm imitation [12] [13].…”

Section: Introductionmentioning

confidence: 99%

Experimental Study on the Imitation of the Human Head-and-Eye Pose Using the 3-DOF Agile Eye Parallel Robot with ROS and Mediapipe Framework

Radmehr¹,

Mehrabadi²,

Masouleh³

2021

Preprint

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In this paper, a method to mimic a human face and eyes is proposed which can be regarded as a combination of computer vision techniques and neural network concepts. From a mechanical standpoint, a 3-DOF spherical parallel robot is used which imitates the human head movement. In what concerns eye movement, a 2-DOF mechanism is attached to the end-effector of the 3-DOF spherical parallel mechanism. In order to have robust and reliable results for the imitation, meaningful information should be extracted from the face mesh for obtaining the pose of a face, i.e., the roll, yaw, and pitch angles. To this end, two methods are proposed where each of them has its own pros and cons. The first method consists in resorting to the so-called Mediapipe library which is a machine learning solution for highfidelity body pose tracking, introduced by Google. As the second method, a model is trained by a linear regression model for a gathered dataset of face pictures in different poses. In addition, a 3-DOF Agile Eye parallel robot is utilized to show the ability of this robot to be used as a system which is similar to a human head for performing a 3-DOF rotational motion pattern. Furthermore, a 3D printed face and a 2-DOF eye mechanism are fabricated to display the whole system more stylish way. Experimental tests, which are done based on a ROS platform, demonstrate the effectiveness of the proposed methods for tracking the human head and eye movement.

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“…Currently, manipulators designed with a parallel structure are becoming more widespread in technology. Many different types of these manipulators are known and they provide exceptional functional properties [1][2][3][4]. Herein parallel manipulators equipped with a circular guide are quite promising for practical application.…”

Section: Introductionmentioning

confidence: 99%

Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide

et al. 2021

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The proposed study focuses on the inverse and forward kinematic analysis of a novel 6-DOF parallel manipulator with a circular guide. In comparison with the known schemes of such manipulators, the structure of the proposed one excludes the collision of carriages when they move along the circular guide. This is achieved by using cranks (links that provide an unlimited rotational angle) in the manipulator kinematic chains. In this case, all drives stay fixed on the base. The kinematic analysis provides analytical relationships between the end-effector coordinates and six controlled movements in drives (driven coordinates). Examples demonstrate the implementation of the suggested algorithms. For the inverse kinematics, the solution is found given the position and orientation of the end-effector. For the forward kinematics, various assembly modes of the manipulator are obtained for the same given values of the driven coordinates. The study also discusses how to choose the links lengths to maximize the rotational capabilities of the end-effector and provides a calculation of such capabilities for the chosen manipulator design.

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Parallel Architectures for Humanoid Robots

Cited by 29 publications

References 24 publications

Bipedal Humanoid Hardware Design: a Technology Review

Bipedal Humanoid Hardware Design: a Technology Review

Experimental Study on the Imitation of the Human Head-and-Eye Pose Using the 3-DOF Agile Eye Parallel Robot with ROS and Mediapipe Framework

Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide

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