Cerberus the Humanoid Robot: Part I - Design

Abstract

The motive behind building humanoids is to design a robot that can duplicate the complexities of human motion, decision making, be able to help people and even accomplish tasks that cannot be carried out by humans. Building humanoids has always attracted scientists throughout the world but although the aim is seemingly simple, the task is never easy. In this series of articles, we are going to present the concept of a humanoid robot, named Cerberus, that walks like a biped and then switches its mode to a quadruped walker/crawler. In Part I, desirable system criteria, design alternatives, final design selection and kinematics of the robot are presented along with the humanoid robot’s simulations.