In this paper the humanoid robot SABIAN (Sant’Anna BIpedal humANoid) is presented and analyzed in details. In particular, the differences between the SABIAN platform and the WABIAN-2 (WAseda BIpedal humANoid), its original Japanese version, are underlined. Some innovative solutions, as the exact calculation 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.
Towards an Improvement of the SABIAN Humanoid Robot: from Design to Optimisation
G. G. Muscolo;
2012-01-01
Abstract
In this paper the humanoid robot SABIAN (Sant’Anna BIpedal humANoid) is presented and analyzed in details. In particular, the differences between the SABIAN platform and the WABIAN-2 (WAseda BIpedal humANoid), its original Japanese version, are underlined. Some innovative solutions, as the exact calculation 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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