G. G. Muscolo, C. Recchiuto, K. Hashimoto, P. Dario, A. Takanishi
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引用次数: 13
Abstract
In this paper the humanoid robot SABIAN (Sant'Anna BIpedal humANo id) is presented and analyzed in details. In particular, the differences between the SABIAN plat form and the WABIAN-2 (WAseda BIpedal humANo id), its original Japanese version, are underlined. So me innovative solutions, as the exact calcu lation of the error mass and the adoption of a new shaft with incorporated joint used to transfer motion, allowed to improve the performances of the robot. Other works, such as the development of a harvesting system for recovering energy, are planned for the next future in order to optimize the platform.
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