Characteristics and Performance of CAUTO (CAssino humanoid TOrso) Prototype

Transcription

1 ventions Article Chrctertics Permnce CAUTO (CAsso humnoid TOrso) Protype Dniele Cfoll * ID Mrco Ceccrelli ID Lborry Robotics Mechtronics (LARM), DICEM, University Csso South Ltium, Csso, Itly; ceccrelli@unics.it * Correspondence: cfoll@unics.it; Tel.: Received: 23 June 2017; Accepted: 9 August 2017; Publhed: 15 August 2017 Abstrct: An rtificil rso fundmentl prt humnoid robot imittg humn ctions. In th pper, protype CAUTO (CAsso humnoid TOrso) presented. Its chrcterized by rtificil vertebrs ctuted by cble-driven prllel mnipulrs. conceived by lookg t complex system functiong humn rso, order develop solution bsic humn-like behvior. requirements kemtic structure re troduced expl peculirities proposed mechnicl. A protype presented, built low-cost high-permnce fetures. Tests results re reported show fesibility chrctertics replictg humn rso motions. In ddition, power consumption hs been mesured durg tests prove efficiency Li-Po bttery supply, employed fully portble solution ed rso. Keywords: humnoid robots; humnoid rso; prllel mnipulrs; ; permnce evlution; experimentl robotics 1. Introduction Humnoid robots re ed replicte humn structure humn behvior severl pplictions or even humns sstnce [1]. In lst few decdes, technologicl developments hve permitted vestigtion construction humnoid robots dvnced cpbilities mobility ctions tht cn be typicl humn opertions dily life humn environments. Significnt exmples such ventions clude ASIMO by Hond [2], Wbin by Wsed University [3], HRP by AIST-KAWADA [4], LOLA by Technicl University Munich, HUBO by KAIS [5]. Drwg spirtion from humn necessry consider mechnms structures tht cn be identified musculr-exoskelen system s combtion seril prllel chs. In generl, bone structure cn be considered s seril kemtic ch tht ctuted by prllel rchitectures muscles [6]. In prticulr, rso centrl structure humn tht well chrcterized by such n tegrted seril-ch bone structure ( spe) prllel-ch musculr system. CAsso humnoid TOrso (CAUTO) conceived s conceptul replic seril-ch spe coopertg cble-driven prllel-ch ctutg system im tegrte dvntges both mechnm pologies but limit ir ddvntges by reciprocl compenstion. Tendon-driven humnoid structures hve lso been proposed, such s Kent humnoid [7] neck [8], which drw spirtion from musculr skelen humn nmy. It well known tht seril chs show lrge workspce mobility but suffer from low lod cpbility, limited motion precion, vibrtion dturbnces [9]. On or h, prllel chs demonstrte better permnce pylod, stiffness, dynmic motion, lthough y exhibit smll workspce hve complex direct kemtics multion. ; doi: /ventions

2 2 10 Th why, extg humnoid robots, rso usully ed usg one two ementioned structures, limitg mobility few DOFs (Degrees Of Freedom) 2 10 bsic movements. In th Th pper, why, successful extg humnoid combg robots, seril- rso usully prllel-ch ed mechnms usg one presented two new ementioned humnoid rso. structures, proposed limitg mobility expled few DOFs lso (Degrees terms Of permnce Freedom) evlution bsic through movements. experimentl results chrcteriztion built protype. In th pper, successful combg seril- prllel-ch mechnms presented 2. CAsso new humnoid humnoid rso. TOrso proposed (CAUTO) Design expled lso terms permnce evlution through experimentl results chrcteriztion built protype. humnoid rso refers nmy cpbility humn rso tht composed 2. CAsso complex humnoid musculr-skelen TOrso (CAUTO) structure Design [10,11]. importnt role rso cn be summrized s centrl pltm both orgn srge motion/pylod cpbility. humnoid rso refers nmy cpbility humn rso tht Such role lso fundmentl humnoid robots, where structure opertion humnoid composed complex musculr-skelen structure [10,11]. importnt role rso cn be rso summrized conceived s centrl humn-like pltm fetures, but both reduced orgn srge complexity motion/pylod cpbility. cpbility. Such CAsso role humnoid lso fundmentl TOrso clled humnoid CAUTOrobots, conceived where structure peculirity opertion hvg humnoid centrl spe-like rso structure conceived tht ctuted humn-like byfetures, suitble but cble-driven reduced complexity prllel rchitecture, cpbility. img mimic humn nmy CAsso humnoid its high permnce. TOrso clled CAUTO conceived peculirity hvg centrl spe-like structure tht ctuted by suitble cble-driven prllel rchitecture, img 2.1. Kemtic mimic humn Design nmy Requirements its high permnce. m requirements humnoid rso cn be identified motion suitble rnges 2.1. Kemtic Design Requirements pylod cpbility. motion requirements refer bendg rsion movements tht re necessry m requirements humnoid rso cn be identified motion suitble rnges both stbility whole humnoid permnce mnipultion pylod cpbility. motion requirements refer bendg rsion movements tht re locomotion tsks. Those requirements cn be fulfilled specific structure system rso, necessry both stbility whole humnoid permnce mnipultion such s combtion shoulder wt pltm tht re connected by n rtificil spe, locomotion tsks. Those requirements cn be fulfilled specific structure system similr rso, humn such s nmy. combtion Th shoulder conceptul wt development pltm tht re CAUTO, connected sby reported n References rtificil spe, [12 15]. similr kemtic humn nmy. Th sketched conceptul 1, which development rtificil spe composed CAUTO, four s reported vertebrl References dcs tht[12 15]. re connected kemtic ech or by sketched sphericl rticultion 1, which flexible motion rtificil spe three composed rottions four θ, vertebrl Φ, ψdcs round tht re connected XYZ frme ech xes. or by shoulder sphericl connected rticultion rtificil flexible spe motion through vertebr three rottions dc 4, θ, Φ, wt ψ round cludes XYZ vertebrl frme xes. dc 1. With shoulder wt, five connected cturs re stlled rtificil spe provide through vertebr ctution dc 4, three ctuted wt DOFs cludes vertebrl dc 1. With wt, five cturs re stlled provide ctution rtificil spe. two ctuted DOFs bendg re obted by ctution four cbles three ctuted DOFs rtificil spe. two ctuted DOFs bendg re obted by workg two-by-two n ntgont wy when ctuted by one mor ech. two bendg motions ctution four cbles workg two-by-two n ntgont wy when ctuted by one mor sgittl ech. lterl two bendg plnes motions cn be permed sgittl seprtely lterl plnes or cn combed be permed motion. seprtely kemtics or those combed motions motion. solved kemtics by lookg tthose echmotions plnr motion solved s reported by lookg Reference t ech plnr [16], motion s firly simplereported multion Reference prcticl [16], firly efficient simple opertion. multion prcticl efficient opertion. 1. A kemtic 1. A kemtic scheme scheme CAUTO CAUTO (CAsso (CAsso humnoid humnoid TOrso) TOrso) humn-like humn-like structure. structure.

3 rsion motion obted by fifth ctur tht genertes rsion rottion 3 upper 10 prt rso motion respect wt. rsion obted by fifth ctur tht genertes rsion rottion upper prtrsion motion rso respect by wt. obted fifth ctur tht genertes rsion rottion 2.2. Mechnicl upper prt Design rso respect wt Mechnicl Design mechnicl CAUTO bsed on concept FSU (Functionl Spe Unit), 2.2. Mechnicl Design mechnicl CAUTO bsed concept (Functionl Spe Unit), which models functionlity structure onspe through FSU bsic components mobility which models functionlity structure on spe through bsic mobility mechnicl CAUTO bsed concept FSUcomponents (Functionl Spe Unit), pylod cpbility s two vertebre connected by n rticultion. An representtive FSU pylod s two vertebre connected n through rticultion. An representtive FSU which modelscpbility functionlity structure by spe bsic components mobility CAsso humnoid TOrso 2. mechnicl conceptul CAUTO CAsso humnoid TOrso mechnicl conceptul FSU pylod cpbility s two vertebre connected by n2. rticultion. An representtive represented 2bs obted by combtion twofsus only.only. mechnicl CAUTO representedtorso 2b sobted by combtion two FSUs conceptul mechnicl CAssohUmnoid 2. mechnicl developed CAD solution, 3, tht subsequently furr developed CAD2b solution, 3, tht subsequently furr CAUTO represented s obted by combtion two FSUs only. mechnicl simultions [16,17]. As seen 3, shoulder ed, cludg vertebrl [16,17]. AsCAD seensolution, 3, shoulder cludg vertebrl simultions developed 3, tht ed, subsequently furrdc 4 it, 4 overll shpe conceived room srge connection dc it, [16,17]. overll shpe conceived room provide srge simultions As seen 3,provide shoulder ed, cludg vertebrl it, n rtificil rm shpe shoulder plte. Similrly, wt srge shped host dc 4 shoulder overll conceived wt provide room cturs nconnection rtificil rm plte. Similrly, shped host cturs rm connection rtificil legs. Simultions worked dynmic connection npermit rtificil shoulder plte. Similrly, wt out shped host permit connection rtificil legs. Simultions worked out dynmic opertion, opertion, s reported Reference [16].FEM simultions properly prts cturs permit connection rtificil legs. Simultions worked out dynmic s reported Reference [16]. FEM simultions properly size size prts check check fesibility chosen [16]. mteril results size 3b show stress opertion, s reported Reference FEM [17]. simultions properly prts fesibility chosen mteril [17]. results 3b show stress computtions computtions fesible confirm[17]. mechnicl check fesibility vlues chosentht mteril results stifness 3b show3d-prted stress fesible vlues tht confirm mechnicl stifness 3D-prted prts ger prts ger fesible commercil components. In prticulr, stifness FEMcomputtions s 3D-prted well s computtions vlues tht confirm mechnicl commercil components. In components. prticulr, FEM computtions s well s well s dynmic dynmic simultions, followg dt ssumed: ctur rque 1.27 Nm;scbles prts ger commercil In prticulr, FEM computtions simultions, followg dt ssumed: ctur rque 1.27 Nm; cbles mde mde steel,simultions, vertebrl rticultions lumum lloy, rque prts mde steel, dynmic followg dtmde ssumed: ctur 1.27 Nm; cbles vertebrl rticultions rticultions mde lumum lloy, lloy, prts mde ABS ABS mdeplstic. steel, vertebrl mde lumum prts plstic. mde ABS plstic. () () 2. Conceptul humnoid rso: () humn-spired FSU scheme, structure 2. Conceptul humnoid rso: () humn-spired FSU scheme, structure CAUTO rso. 2. Conceptul humnoid rso: () humn-spired FSU scheme, structure CAUTO rso. CAUTO rso. () () 3. Mechnicl : () CAD model chrctertic pots, FEM computtion results. 3. Mechnicl : () CAD model chrctertic pots, FEM computtion results. 3. Mechnicl : () CAD model chrctertic pots, FEM computtion results.

4 FEM computtions gve stress vlues, s dicted significnt pots 3b, tht verify fesibility s well s stiffness ed structure ll its components. FEM computtions gve stress vlues, s dicted significnt pots 3b, tht verify fesibility s well s stiffness ed structure ll its components. 3. Low-Cost Protype A3. protype Low-Cost Protype built t LARM Csso by lookg low-cost solution usg 3D-prtg mnufcturg A protype structurl built prts t LARM commercil Csso by components lookg low-cost cturs, solution s, usg 3D-prtg connections. protype mnufcturg structurl prts 4. protype commercil components rso lone cturs, 4 s, cn fit box connections. dimensions protype mm mm protype mm. wt rso lone thicker thn 4 cn shoulder fit ; it box sized dimensions dimensions mm mm mm mm. mm wt thicker mm. thn trunk, constg shoulder ; rso it sized prt dimensions thorcic wits mm prts, mm sized mm. dimensions trunk, constg rso prt thorcic wits prts, sized dimensions mm mm mm. weight only rso structure 1.2 kg, cludg mm mm mm. weight only rso structure 1.2 kg, cludg ll its ll its components systems. It hs lso been ssembled humnoid version, rms components systems. It hs lso been ssembled humnoid version, rms hed, s hed, s 4b. With 4b. fully With extended fully rms, extended it cn fit rms, box it cn fit dimensions box dimensions mm mm mm mm, mm weight mm, 1.6 kg. weight humnoid 1.6 kg. ssembly humnoid chrcterized ssembly by chrcterized nthropomorphic by nthropomorphic rms hed rms tht equipped hed tht s equipped vion, purpose s which vion, purpose verify which its prcticl verify fesibility its prcticl humnoid fesibility tsks. humnoid tsks. () 4. CAUTO protype t LARM Csso: () rso only, humnoid ssembly. 4. CAUTO protype t LARM Csso: () rso only, humnoid ssembly. CAD 3 defe structurl prts tht mnufctured by 3D-prtg CAD t LARM, nmely 3 shoulder defe pltm, structurl wt prts, tht hed, mnufctured by 3D-prtg nthropomorphic t LARM, rms. nmely procedure shoulder Reference pltm, [18] wt th construction,, hed, im nthropomorphic chievg rms. firly simple procedure low-cost Reference products. [18] Durg mnufcturg, th construction, furr im optimiztion chievg firly worked simple out by properly choosg low-cost two products. different Durg kds plstic. mnufcturg, PLA chosen furr s prtg mteril wt trunk prts sce it hs better stiffness ech optimiztion worked out by properly choosg two different kds plstic. PLA chosen s lyer, so tht trunk will successfully trnsmit motion wt will fd pylod. prtg mteril wt trunk prts sce it hs better stiffness ech lyer, On or h, ABS chosen dcs, sce it shows better mechnicl properties thn so tht PLA s trunk per impct will successfully restnce. trnsmit motion wt will fd pylod. On or h, Commercil ABS components chosen dcs, selected sces itsolutions shows better ll mechnicl or components, properties thn nmely PLA s per impct cturs, restnce. s, cbles, bttery, flexible vertebr rticultions, order Commercil components selected s solutions ll or components, nmely cturs, s, cbles, bttery, flexible vertebr rticultions, order chieve

5 5 10 Inventions 2017, 2, 17 firly esy component replcement. In prticulr, sphericl5 10 low-cost protype vertebr 5 10 rticultions obted by usg Huco Sgle Helix Bem Couplgs [19], which re mde light chieve low-cost protype firly esy component replcement. In prticulr, sphericl lumum lloy. TowerPro MG995 servomors [20] ctute steel[19], cbles move chieve rticultions low-cost protype firly esy component prticulr, which sphericl vertebr obted by usg Huco Sglereplcement. Helix Bem In Couplgs re spe. An Inertil Mesurement Unit (IMU) mde by triple-xes ccelerometer, gyroscope, vertebr rticultions obted by usg Huco Sgle Helix [19], which re mde light lumum lloy. TowerPro MG995 servomors [20]Bem Couplgs ctute steel mgnemeter [21 23] pservomors Unit spe monir motion steel terms mde lloy. TowerPro MG995 [20] by ctute cbles light movelumum spe. Anstlled Inertil on Mesurement (IMU) mde triple-xes ngulr dplcement ccelertion, well s control purposes. Hll cbles move spe. An Inertil s Mesurement (IMU) by triple-xes ccelerometer, gyroscope, mgnemeter [21 23] Unit stlled on p mde An ACS712 spe monir ccelerometer, gyroscope, mgnemeter [21 23] on durg spe monir motion terms ngulr dplcement ccelertion, s well sp control purposes. An module [24] cquire current mesure stlled power consumption vlidtion motion terms ngulr dplcement ccelertion, s well s control purposes. An [26] ACS712 Hll module [24] cquire current mesure power consumption tests. With hed frme, vion s such s n ultrsonic [25] WiFi Cmer ACS712 Hll module [24] cquire current mesure power consumption durg vlidtion tests. With hed frme, vion s such s n ultrsonic [25] stlled give vion cpbility both know surroundg environment control durg Cmer vlidtion With hed frme, vion s both such s n ultrsonic [25] WiFi [26]tests. stlled give vion surroundg overll motion. full protype 4b cpbility checkknow fesibility rso WiFi Cmer [26] give vion cpbilityboth 4b know surroundg environment control stlled overll motion. full protype check 4 implementtion humnoid s. environment rso control overll motion. fullprotype s. 4b check fesibility 4 implementtion humnoid fesibility rso 4 implementtion humnoid s. 4. Experimentl Tests Permnce Evlution 4. Experimentl Tests Permnce Evlution 4. Experimentl Tests Permnce Evlution built protype 4 4 testg permnce permnce chrctertics check built protype testg chrctertics check fesibility its its opertion [27]. Severl tests crried built protype 4opertion testg tsks permnce chrctertics check fesibility humnoid humnoid tsks [27]. Severl tests crried ouut t LARM chrcterize permnce opertion motion, pylod crryg, liftg cpbility. fesibility permnce its opertion humnoid [27].pylod Severl tests crried out t LARM chrcterize opertion tsks motion, crryg, liftg t LARM chrcterize permnce opertion motion, pylod crryg, liftg cpbility. In th pper, tests results re reported two different configurtions, nmely rso In th pper, tests results re reported two different configurtions, nmely rso only cpbility. In th pper, tests results re reported different configurtions, nmely rso only humnoid ssembly rms show hed, order show n experimentl humnoid ssembly rms hed, order two nexperimentl chrcteriztion. only humnoid ssembly rms hed, order show n experimentl chrcteriztion. chrcteriztion Torso Behviour Bendg 4.1. Torso Behviour Bendg rsobehviour behvior tested terms motion rnges pylod cpbility. Tests 4.1. Torso Bendg rso behvior tested terms motion rnges pylod cpbility. Tests run run out rms hed, by movg only rso. In 5, sequence test behvior tested terms motion rnges pylod cpbility. Tests run rso out rms hed, by movg only rso. In 5, sequence test configurtions cse successful rso bendg pylod on bck kg. out rms hed, by movg only rso. 5,on sequence test configurtions cse successful rso bendg In pylod bck Results test re s rso bendg pylod on bck configurtions cse 6successful kg. Results test re s kg. Results test re s A snpshot rso while bendg pylod kg on bck. 5. A snpshot rso while bendg pylod kg on bck. 5. A snpshot rso while bendg pylod kg on bck. () () 6. Acquired dt from IMU durg test 5: () ngulr dplcements; 6. Acquired dt from IMU durg test 5: () ngulr dplcements; ccelertions. 6. Acquired dt from IMU durg test 5: () ngulr dplcements; ccelertions. ccelertions.

6 shows ngles tht cquired by IMU durg bg crryg experiment lstg s three repeted movements. plot reports first clibrtion phse from s s, homg servomors, three repetitions bendg motion. cquired ngles θ re rnge ; ngle Φ 6 shows rnge 7.57 ngles 2.70 tht cquired by IMU durg bg crryg experiment lstg s three repeted ; movements. ngle ψ plot reports rnge first clibrtion m bendg rottion permed round X-x phse from 0.00 s s, homg servomors, three repetitions bendg, replictes motion. humn motion cquired quite ngles stfcrily, θ re even rnge terms velocity ccelertion ; ngle In Φ plot, wrd rnge bckwrd movements 7.57 cn 2.70 ; be identified ngle clerly ψ by phses rnge positive 0.77 negtive vlues m mjorbendg rottion wrd permed configurtions. round X-x it 36.76, replictes humn motion quite In stfcrily, ddition, even ngulr terms dplcement velocity exhibits ccelertion. reltionship In plot, ler wrd ccelertion, bckwrd s movements cn be identified clerly by phses positive negtive vlues mjor 6b, both which re mesured pot t p spe. When rso bends bendg wrd configurtions. wrd from s up s, IMU senses two components ccelertion long In ddition, ngulr dplcement exhibits reltionship ler ccelertion, s Y-x Z-x. mesured ccelertion long Y-x hs rnge m/s 2 6b, both which re mesured pot t p spe. When rso bends wrd. from ccelertion s up component s, IMU longsenses Z-x two components rnge ccelertion 2.55 long 9.81 m/s 2. Z-x Y-x hs Z-x. zero fset mesured 9.81 tht ccelertion due long ccelertion Y-x hs rnge grvity. ccelertion long X-x m/s 2. negligible. ccelertion Vibrtion component noe long detected Z-x s comg rnge both from 2.55 mor motion 9.81 m/s 2. protype Z-x mechnicl hs zero. fset 9.81 tht due ccelertion grvity. ccelertion long X-x 7 shows negligible. power Vibrtion consumption noe detected durg s comg experiment both from mor motion 5. Ech bendg movement protype cnmechnicl be esily. recognized time evolution plot power peks 7 shows power consumption durg experiment 5. Ech bendg chrcterizg strt end bendg movement. Two phses cn be seen plot movement cn be esily recognized time evolution plot power peks ech bendg movement three repeted wrd-bckwrd motions. For ech motion, chrcterizg strt end bendg movement. Two phses cn be seen plot ech ctions bendg re identified movement by two pek three couples repeted tht wrd-bckwrd represent power motions. needed For ech motion, go wrd, ctions go bck strtg re identified pot, by two n pek gocouples bckwrd. tht represent power consumption power needed durg go wrd, experiment, go bck out tkg strtg considertion pot, n go powerg bckwrd. on phse, power hsconsumption rnge durg 0.17 experiment, W out men vluetkg W. considertion powerg on phse, hs rnge W men vlue bove results W. experiment show tht proposed rso cn lift bg contg its own weight bove no results problems, experiment chievgshow stfcry tht proposed humnoid rso behvior cn lift bg contg cceptbleits movement own rnge weight ccelertion, no problems, thnks chievg contribution stfcry humnoid commercil behvior servomors. cceptble Furrmore, movement rnge ccelertion, thnks contribution commercil servomors. Furrmore, limited power consumption system llows usge bttery s power supply limited power consumption system llows usge bttery s power supply good good durbility. durbility. 7. Mesured power consumption durg test Mesured power consumption durg test Torso Behviour Liftg Lods 4.2. Torso Behviour Liftg Lods humnoid ssembly rms tested terms motion rnges pylod cpbility. humnoid Tests ssembly run by liftg rms pylod tested usg terms rms motion compenstion rnges motion pylod cpbility. permed Testsby rso. run bytests liftg crried pylod out usg humnoid rms ssembly compenstion 8 motion both permed check

7 7 10 by rso. Tests crried out humnoid ssembly 8 both check 7 10 fesibility rso humnoid implementtion vestigte effects rms hed structure on rso permnce. Inimplementtion 8, sequence test configurtions fesibility rso humnoid vestigte effects rms hed structure on liftg rso permnce. In 8, sequence test configurtions cse successful pylod by rms smll rso bendg pylod kg cse successful pylod liftg rms smll sce pylod imposed pylod reduced respect by previous cse rso rsobendg cpbility, rms kg. reduced respect previous cse rso cpbility, sce rms fesibility rso due humnoid implementtion vestigte rms reduction pylod pylod cpbility ir mechnicl. Resultseffects test re imposed reduction pylod cpbility duein ir mechnicl. Results test re hed structure on rso permnce. 8, sequence test configurtions s s cse successful pylod liftg by rms smll rso bendg pylod kg. pylod reduced respect previous cse rso cpbility, sce rms imposed reduction pylod cpbility due ir mechnicl. Results test re s A snpshot rso rso liftg pylod kg usg rms. 8. A8. snpshot liftg pylod kg usg rms. 9 shows ngles tht cquired by IMU durg rm pylod liftg 9 shows ngles tht cquired IMUnmely durglod liftg rmpylod experiment lstg s. test executed threeby movements, 7.60 s, liftg 8. A snpshot rso liftg pylod kg usg rms. sttionry configurtion s, gog bck When rms re liftg 7.60 s, experiment lstg s test executed home threeposition. movements, nmely lod liftg lod, rso needs bend compenste chnge position center grvity 9 shows ngles thtgog cquired by position. IMU durg rm liftg sttionry configurtion 8.44 s, bck home When pylod rms re liftg humnoid ssembly. m motion executed rso three longmovements, X-x, lod cquired ngles θ s, lstg test nmely 7.60 lod, experiment rso needs bends. compenste chnge position liftg center grvity rnge ; s, ngle Φ rnge , sttionry configurtion 8.44 gog bck home position. When rms re liftg humnoid m motion rso long X-x, cquired ngles ngle ssembly. rnge re ctuted movg elbow lod,ψ rso needs bend compenste chnge rms position by center grvity θ rnge ; ngulr ngle Φ rnge , jots lift lod. In ddition, dplcement exhibits reltionship ler humnoid ssembly. m motion rso long X-x, cquired ngles θ mesured. ccelertion 9b, both which pot t 2.37, spe. ngle ψ rnge rms rep ctuted by movg rnge ; ngle Φre rnge 2.44 rso ccelertion smll so s ensure smooth motion, it mesured long X-x elbow jots lod. In ddition, ngulr exhibits reltionship ngle ψ lift rnge dplcement rms re ctuted bymovg elbow 2, rnge 2.24 m/s2, long Y-x rnge jots lift lod. In 2.20 ddition, ngulr exhibits reltionship m/s ler ler ccelertion 9b, both dplcement which re mesured pot t p long Z-x rnge m/s2. Smll detected g t ccelertion 9b, both which re mesured vibrtion potnoe t p mesured spe. spe. rso ccelertion smll so s ensure smooth motion, it long moment chnges rso ccelertion smllso s motions. ensure smooth motion, it mesured long X-x 2 X-x rnge m/s, long Y-x rnge rnge m/s2, long Y-x rnge m/s, 2.55 m/slong, long Z-x rnge m/s2. Smll vibrtion noe Z-x rnge m/s2. Smll vibrtion noe detected g t detected g t moment moment chnges chnges motions. motions. () 9. Acquired dt from IMU durg test 8: () ngulr dplcements; ccelertions. () 9. Acquired dt from IMU durg test 8: () ngulr dplcements; 9.Acquired dt from IMU durg test 8: () ngulr dplcements; ccelertions. ccelertions.

8 shows power power consumption durg durg experiment experiment mesured mesured power consumption power consumption quite constnt quite t constnt mximum t mximum vlue durg vlue time durg sttionry time configurtion sttionry configurtion lifted pylod. Chnges lifted pylod. power Chnges consumption power re detected consumption t begng re detected t liftg begng t return liftg home t configurtion. return However, home configurtion. power needed However, mt power humnoid needed ssembly mt opertion, humnoid even ssembly when it opertion, not movg. even when power it not consumption movg. durg power consumption experiment, out durg tkg experiment, considertion out tkg powerg considertion phse, hs rnge powerg on phse, hs Wrnge men vlue W. W men vlue W. 10. Mesured power consumption durg test Mesured power consumption durg test 8. bove results experiments show tht proposed rso humnoid ssembly cn lift bove pylod results by supportg experiments ctions show tht rms proposed stfcry rso humnoid humnoid behvior ssembly cn cceptble lift pylod movement by supportg rnge ccelertions, ctions rmssome limittion stfcry humnoid ction due behvior rm cceptble structure. However, movement rnge limited ccelertions, power consumption some limittion humnoid ssembly ction due confirms rm structure. efficiency However, rso limited power usge consumption bttery s humnoid power supply ssembly humnoid confirms. efficiency rso usge bttery s power supply humnoid. 5. Conclusions 5. Conclusions Th pper presents protype CAUTO (CAsso humnoid Torso) its peculir Th pper presents protype CAUTO (CAsso humnoid Torso) its peculir biomimetic high-permnce chrctertics. kemtic chrcterized by biomimetic high-permnce chrctertics. kemtic chrcterized spe-like structure tht ctuted by cble-driven prllel mnipulrs, so tht rso cn by spe-like structure tht ctuted by cble-driven prllel mnipulrs, so tht rso cn perm humn-like motions high pylod cpbility. Results experimentl vlidtion show perm humn-like motions high pylod cpbility. Results experimentl vlidtion show tht rso cpble crryg lod lrger thn its own weight, but tht weight cpbility tht rso cpble crryg lod lrger thn its own weight, but tht weight cpbility reduced when rso equipped rms. compct hs been trnsferred reduced when rso equipped rms. compct hs been trnsferred protype tht hs been built usg 3D-prtg mnufctured prts, ssembled ger protype tht hs been built usg 3D-prtg mnufctured prts, ssembled ger properly properly selected commercil components. presented protype hs low energy consumption selected commercil components. presented protype hs low energy consumption cn sre cn sre btteries n unomous portble solution humnoid structures. Thus, th pper btteries n unomous portble solution humnoid structures. Thus, th pper provides provides evidence good permnce protype experimentl tests, dictg both evidence good permnce protype experimentl tests, dictg both vlidtion vlidtion CAUTO low-cost fetures its chrcteriztion high pylod CAUTO low-cost fetures its chrcteriztion high pylod cpbility. cpbility. Author Contributions: Dniele Cfoll crried out chrcteriztion humn rso behviour get spirtion spirtion propose propose fl fl version version protype protype tht tht he he hs hs been been developed developed gog gog through through,, construction, control experimentl vlidtion; Mrco Ceccrelli hs helped superved durg work construction, dcussg troducg control problems experimentl vlidtion; opertion Mrco solutions Ceccrelli hs humnoid helped rso. superved He ok plce durg lso work chrcteriztion dcussg troducg evlution problems permnce opertion protype solutions nlysg test humnoid results ger rso. He ok Dniele plce lso Cfoll. chrcteriztion evlution permnce protype nlysg Conflicts test results Interest: ger uthors Dniele declre Cfoll. no conflict terest. Conflicts Interest: uthors declre no conflict terest.

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10 PING))) Ultrsonic Dtnce Sensor, Prllx Ctlog #28015; Prllx: Rockl, CA, USA, Ai-bll Mi Wifi Cmer, Ctlog Product #2; Thumbdrive: Sgpore, Cfoll, D.; Ceccrelli, M. An experimentl vlidtion novel humnoid rso. J. Robot. Aun. Syst. 2017, 91, [CrossRef] 2017 by uthors. Licensee MDPI, Bsel, Switzerl. Th rticle n open ccess rticle dtributed under terms conditions Cretive Commons Attribution (CC BY) license (