Simulation results for design and operation of CALUMA, a new low-cost humanoid robot

摘要

This paper presents simulation results for basic operation of CALUMA (CAssino Low-cost hUMAnoid robot). The new humanoid robot CALUMA is described with its characteristics of low-cost design and easy-operation behavior. A CALUMA model in ADAMS environment has been elaborated. The CALUMA ADAMS model has been used for a dynamic simulation of robot operation. Three modes for the dynamic simulation have been studied, namely straight walking, walking with a grasped object in the hand, and lifting an object. The results of simulating those basic operations show the feasibility of the proposed design for CALUMA robot and validate its operation. Improvements have been illustrated in the design evolution for the robot structure and operation as suggested by simulation results.