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Authors: Teck-Chew Wee 1 ; A. Astolfi 1 and Ming-Xie . 2

Affiliations: 1 Imperial College London, United Kingdom ; 2 Nanyang Technological University, Singapore

ISBN: 978-989-8425-75-1

Keyword(s): Humanoid, Bipedal Robot, Modular-Joint design.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

Abstract: This paper presents the work done in the modular-joint design of a teen-size bipedal humanoid robot. Due to this modular-joint design approach, the robot is able to be modelled as a point-mass system without considering its links’ inertia, this is a novelty approach to improve the kinematics and dynamic modelling of the robot, for test-bedding and simulation of various control algorithms. The robot is a cost effective platform which is suitable for both edutainment and engineering research purposes. The TPinokio humanoid robot has a height of around 1.5 meter, and weight around 58 kg. This paper is focused mainly on the robot’s mechanical structure and electronics design. The robot’s kinematics with point-mass distribution characteristics and it’s control approach are briefly discussed.

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Paper citation in several formats:
Wee, T.; Astolfi, A. and ., M. (2011). HUMANOID ROBOT - Modular-Joint Design of a TPINOKIO Bipedal Robot.In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 185-190. DOI: 10.5220/0003530301850190

@conference{icinco11,
author={Teck{-}Chew Wee. and A. Astolfi. and Ming{-}Xie ..},
title={HUMANOID ROBOT - Modular-Joint Design of a TPINOKIO Bipedal Robot},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={185-190},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003530301850190},
isbn={978-989-8425-75-1},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - HUMANOID ROBOT - Modular-Joint Design of a TPINOKIO Bipedal Robot
SN - 978-989-8425-75-1
AU - Wee, T.
AU - Astolfi, A.
AU - ., M.
PY - 2011
SP - 185
EP - 190
DO - 10.5220/0003530301850190

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