HUMANOID ROBOT - Modular-Joint Design of a TPINOKIO Bipedal Robot

Teck-Chew Wee, A. Astolfi, Ming-Xie .

2011

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.

Paper Citation

in Harvard Style

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

in Bibtex Style

@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},
}

in EndNote Style

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