Modeling and Simulation of Humanoid Robot Spine Vertebra

M. Souissi; V. Hugel; P. Blazevic

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Paper

Modeling and Simulation of Humanoid Robot Spine Vertebra

Topics: Humanoid Robots; Mechatronics Systems; Modeling, Simulation and Architecture; Robot Design, Development and Control

In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 415-418, 2012 , Rome, Italy

Authors: M. Souissi ; V. Hugel and P. Blazevic

Affiliation: Université de Versailles Saint Quentin en Yvelines, France

Keyword(s): ROMEO Robot, Simulation, Vertebral Column, Mechanical Structure, Kinematics.

Related Ontology Subjects/Areas/Topics: Humanoid Robots ; Informatics in Control, Automation and Robotics ; Mechatronics Systems ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

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.

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Paper citation in several formats:

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; ISSN 2184-2809, SciTePress, pages 415-418. DOI: 10.5220/0004013904150418

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Souissi, M.
AU - Hugel, V.
AU - Blazevic, P.
PY - 2012
SP - 415
EP - 418
DO - 10.5220/0004013904150418
PB - SciTePress