Kinematic computations for small-size humanoid robot KUBO
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This paper overviews the kinematics and workspace computer simulation of a small-size humanoid robot named KUBO. This bipedal walking platform has 20 degrees of freedom (DOF) and is powered by servomotors that perform reliable torque and precise motion. Made entirely from aluminum and assembled with commercial off-the-shelf actuators and sensors, KUBO is a self-developed low-cost platform for research into humanoid robots, human-like motion, bipedal walking, and control. It is capable of moving forward, backward, sideway, it can turn in any direction, lie down, and get up. In addition, it performs object tracking and recognition using an on-board video camera. In this paper, the design, implementation, mechanical analysis, and vision capabilities of this prototype are presented and discussed.