A DESIGN AND SIMULATION OF CALUMA (CASSINO LOW-COST HUMANOID ROBOT)

摘要

At LARM in Cassino a research line has been focused on the design of robotic systems with low-cost easy-operation features as challenges for a user-oriented Robotics. In this frame a final project has been stated to design and built a low-cost easy-operation humanoid robot as a systems summarizing experiences and prototypes that have been carried out at LARM. A humanoid robot, named as CALUMA (CAssino Low-cost hUMAnoid robot) has been designed and described by using suitable models and 3D-CAD kinematic simulations in order to define feasible design and operation. A dynamic simulations have been carried out by using ADAMS software in order to study the dynamical aspects of basic operation with the aim to optimise the design and operation programming. Results of this design activity through dynamical simulation are reported in this paper.