Mechatronic design of PRH: A NEW 3D printed and anthropometric humanoid robotic platform

摘要

Bipedal locomotion is one of the main research focuses on humanoid robotics that has evolved towards new methods and prototypes, to successfully emulate the human gait. However, much of the research is done with low-cost robots with serious deficiencies in anthropometrics and biomechanics referred to the human body, that constraint the applicability of the research to further human scale prototypes or its use in new orthoses or prosthesis. This paper presents the design methodology of a 90-cm tall humanoid robotic platform, completely anthropometric, easy to assemble, modular, lightweight, inexpensive and produced mainly with 3D printing. The design comprises 56 degrees of freedom, being described primarily the development of the hardware of legs and some parts of the torso implied in bipedal locomotion. It is also explained the electronic architecture, sensors and power supply of the robot in order to execute stable gait patterns with the use of toe-off motion.