Simulation Results for Design and Operation of CALUMA, a New Low-Cost Humanoid Robot = Resultados de una simulación para el diseño y funcionamiento de CALUMA, un nuevo robot humanoide de bajo costo Articles uri icon

authors

  • NAVA RODRIGUEZ, NESTOR EDUARDO
  • CARBONE, GIUSEPPE
  • CECCARELLI, MARCO

publication date

  • September 2008

start page

  • 601

end page

  • 618

issue

  • 5

volume

  • 26

international standard serial number (ISSN)

  • 0263-5747

electronic international standard serial number (EISSN)

  • 1469-8668

abstract

  • 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.