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

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.
Biped Robots, Locomotion, Humanoids, WABIAN-2, SABIAN, ZMP
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11562/1048990
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