04-BH2

Ieee Robotics Amp Amp Amp Automation Magazine, 2009

2013 IEEE International Conference on Robotics and Automation, 2013

International Journal of Advanced Robotic Systems, 2012

Humanoid robotics is unquestionably a challenging and long-term field of research. Of the numerous and most urgent challenges to tackle, autonomous and efficient locomotion may possibly be the most underdeveloped at present in the research community. Therefore, to pursue studies in relation to autonomy with efficient locomotion, the authors have been developing a new teen-sized humanoid platform with hybrid characteristics. The hybrid nature is clear in the mixed actuation based on common electrical motors and passive actuators attached in parallel to the motors. This paper presents the mechatronic design of the humanoid platform, focusing mainly on the mechanical structure, the design and simulation of the hybrid joints, and the different subsystems implemented. Trying to keep the appropriate human proportions and main degrees of freedom, the developed platform utilizes a distributed control architecture and a rich set of sensing capabilities, both ripe for future development and r...

2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010, 2010

IEEE Access

2008

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

2011

Mechatronics, 2012