Kinematic Modelling and Motion Analysis of a Humanoid Torso Mechanism

This paper introduces a novel kinematic model for tendon-driven compliant torso mechanism humanoid robots, which describes the complex behaviour of system characterised by interaction element with rigid bodies and actuation tendons. Inspired human spine, proposed is based on flexible backbone whose shape controlled two pairs antagonistic First, structure analysed to identify main modes motion. Then, constant curvature extended describe under examination, includes axial elongation/compression torsion in addition bending A linearised stiffness also formulated estimate static response backbone. The used evaluate workspace an example mechanical design, then it mapped onto controller validate results experimental test prototype. By replacing previous approximated calibrated data, this improves accuracy efficiency enables performance evaluation robot over reachable workspace, ensure that architecture operates within its wrench-closure workspace.