A biomimetic upper body for humanoids

Conference: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
06/07/2010 - 06/09/2010 at Munich, Germany

Proceedings: ISR/ROBOTIK 2010

Pages: 8Language: englishTyp: PDF

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Gini, Giuseppina; Folgheraiter, Michele; Baroni, Ilaria; Boschetti, Francesco; Petja, Gert; Traversoni, Marco (DEI, Politecnico di Milano, piazza L. da Vinci 32, 20133 Milano, Italy)

Developing a humanoid robot is not adding intelligence to any mechanical solution; in our opinion it is developing together "body and mind" of the robot to obtain a system intrinsically able to adapt to real situations and to share the same solutions of the human user. In this paper we present the main architectural solutions of our humanoid robot. In particular we describe its unique mechanical construction, fully based on McKibben actuators. Starting from a biomimetic design, we will explain the controlling strategy and discuss about performance.