Parallel Mechanism Designs for Humanoid Robots

Abstract

The design of humanoid robots is inspired to human anatomy and operation with open challenges in mechanical performance that can be achieved by using parallel architectures. In this paper, parallel architectures are recognized in human anatomy and operations and they are used as inspiration for designing parallel mechanisms within humanoid robots. Requirements and performance of parallel mechanisms in humanoid designs are discussed. The example of LARMbot humanoid is reported to show the feasibility and efficiency of the proposed designs.