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Simulation results for design and operation of CALUMA, a new low-cost humanoid robot

Published online by Cambridge University Press:  01 September 2008

Nestor Eduardo Nava Rodriguez ,
Giuseppe Carbone  and
Marco Ceccarelli
Nestor Eduardo Nava Rodriguez*
Affiliation:
LARM: Laboratory of Robotics and Mechatronics, DiMSAT—University of Cassino, Via Di Biasio 43—03043 Cassino (Fr), Italy.
Giuseppe Carbone
Affiliation:
LARM: Laboratory of Robotics and Mechatronics, DiMSAT—University of Cassino, Via Di Biasio 43—03043 Cassino (Fr), Italy.
Marco Ceccarelli
Affiliation:
LARM: Laboratory of Robotics and Mechatronics, DiMSAT—University of Cassino, Via Di Biasio 43—03043 Cassino (Fr), Italy.
*
*Corresponding author. E-mail: nava@unicas.it
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Summary

This paper presents simulation results for basic operation of CALUMA (CAssino Low-cost hUMAnoid robot). The new humanoid robot CALUMA is described with its characteristics of low-cost design and easy-operation behavior. A CALUMA model in ADAMS environment has been elaborated. The CALUMA ADAMS model has been used for a dynamic simulation of robot operation. Three modes for the dynamic simulation have been studied, namely straight walking, walking with a grasped object in the hand, and lifting an object. The results of simulating those basic operations show the feasibility of the proposed design for CALUMA robot and validate its operation. Improvements have been illustrated in the design evolution for the robot structure and operation as suggested by simulation results.

Keywords

Humanoid robotsDynamics simulationDesign and operation
Type
Article
Information
Robotica , Volume 26 , Issue 5 , September 2008 , pp. 601 - 618
Copyright
Copyright © Cambridge University Press 2008

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