TY - GEN
T1 - NU-Biped-4 a Lightweight and Low-Power Consumption Full-Size Bipedal Robot
AU - Folgheraiter, Michele
AU - Yessirkepov, Sharafatdin
AU - Umurzakov, Timur
AU - Korabay, Rizabek
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - A newly developed full-size (1.1 m), lightweight (14 kg), and low-cost (5.000 for components and materials) bipedal robot is presented. The entire mechanical structure is realized in aluminum, while the feet, to allow absorbing the impact forces, include elastic elements at the ankle level. The mechanical and electrical design are introduced together with the solution of the inverse kinematics based on the successive screw displacements method. Preliminary tests, conducted in a simulation environment and on the real robot prototype, show the low requirements in term of joint torques and energy consumption (408 W) while performing a static walking gate.
AB - A newly developed full-size (1.1 m), lightweight (14 kg), and low-cost (5.000 for components and materials) bipedal robot is presented. The entire mechanical structure is realized in aluminum, while the feet, to allow absorbing the impact forces, include elastic elements at the ankle level. The mechanical and electrical design are introduced together with the solution of the inverse kinematics based on the successive screw displacements method. Preliminary tests, conducted in a simulation environment and on the real robot prototype, show the low requirements in term of joint torques and energy consumption (408 W) while performing a static walking gate.
KW - Bipedal Robot
KW - Elastic Foot
KW - Humanoid Robot
KW - Low-Power Consumption Biped
UR - http://www.scopus.com/inward/record.url?scp=85161317103&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85161317103&partnerID=8YFLogxK
U2 - 10.1109/ICARA56516.2023.10126025
DO - 10.1109/ICARA56516.2023.10126025
M3 - Conference contribution
AN - SCOPUS:85161317103
T3 - 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023
SP - 38
EP - 43
BT - 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th International Conference on Automation, Robotics and Applications, ICARA 2023
Y2 - 10 February 2023 through 12 February 2023
ER -
