Towards an Improvement of the SABIAN Humanoid Robot: from Design to Optimization

Abstract

In this paper the humanoid robot SABIAN (Sant'Anna BIpedal humANoid) is presented and analyzed in details.In particular, the differences between the SABIAN platform and the WABIAN-2 (WAseda BIpedal humANoid), its original Japanese version, are underlined. Some innovative solutions, as the exact calculation of the error mass and the adoption of a new shaft with incorporated joint used to transfer motion, allowed to improve the performances of the robot. Other works, such as the development of a harvesting system for recovering energy, are planned for the next future in order to optimize the platform.

Conception and development of Dexto:Eka: The humanoid robot - Part III

“…Some notable robots like ASIMO [3], iCub [4], WABIAN-2 [5] and its successor SABlAN [6] have truly changed the universe of humanoid robots. But a major setback in most of the humanoids developed today is the extremely high cost in production.…”

System identification of a humanoid robot power transmission system

“…Park et.al identified a bipedal robot with a compliant drivetrain in 2011 [11]. Moreover, in 2012 Muscolo et.al optimized the design of SABIAN humanoid robot [12]. Thus, it seems to be important to study different approaches of modeling and identification in the area of biped robots.…”

A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm

“…SABIAN [7,8] (Figure 5) has two 7-DOF legs, a 2-DOF waist, and a 2-DOF trunk. Each actuator system of the joint consists of a DC motor, a harmonic drive gear, a lug belt, and two pulleys.…”

“…The height of the robot is 1480 mm and the weight is 40.7 kg without batteries. SABIAN is the Italian version of the WABIAN-2 robot [8] (see Figure 6). SABIAN does not have arms, and the head is a version of the ICUB head [4].…”

“…The next steps will be the implementation of these systems into the DEXTER robotic arm with the ultimate aim of control and design of the two arms of the humanoid robot SABIAN ( Figure 5) [7,8].…”