Modeling and Simulation of Humanoid Robot Spine Vertebra

M. Souissi, V. Hugel, P. Blazevic

Abstract

In this paper, a parallel mechanism is proposed for the design of humanoid vertebra. This mechanism is inspired by a flight simulator system, and has been adapted and optimized to enable pitch and roll motion of a humanoid trunk at reduced energy cost. The system consists of a bottom platform and a top platform connected by two articulated arms and a vertical central rod. A 3D model of the system has been elaborated for simulation and design.

References

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Paper Citation


in Harvard Style

Souissi M., Hugel V. and Blazevic P. (2012). Modeling and Simulation of Humanoid Robot Spine Vertebra . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 415-418. DOI: 10.5220/0004013904150418


in Bibtex Style

@conference{icinco12,
author={M. Souissi and V. Hugel and P. Blazevic},
title={Modeling and Simulation of Humanoid Robot Spine Vertebra},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={415-418},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004013904150418},
isbn={978-989-8565-22-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Modeling and Simulation of Humanoid Robot Spine Vertebra
SN - 978-989-8565-22-8
AU - Souissi M.
AU - Hugel V.
AU - Blazevic P.
PY - 2012
SP - 415
EP - 418
DO - 10.5220/0004013904150418