Antropomorphic Design and Operation of a New Low-Cost Humanoid Robot

Abstract

This paper illustrates design and simulation results for a new low-cost humanoid robot that has been named as CALUMA (CAssino Low-cost hUMAnoid robot). A 3D-CAD model of CALUMA has been developed in order to check the design feasibility, possible component interferences and kinematic behaviour. A dynamic simulation in ADAMS environment has been carried out for CALUMA walking movements. Preliminary results of dynamic simulation have shown a falling down of CALUMA. Successful simulations of the robot walking movement have been obtained after carrying out some enhancements in the design of CALUMA