@inproceedings{563e8d3e816a458d86698675dff30146,
title = "Biomimetic inspiration for PKM torso design in humanoid robots",
abstract = "A new torso design of humanoid robot is proposed as a 3-DOF PKM (Parallel Kinematic Manipulator) structure by using results of a biomimetic analysis of torso in humans and animals. Main characteristics of torso in nature are presented from which design requirements are outlined for a solution in humanoid robot. The PKM torso is consist of two platforms and four UPU mechanisms. The usefulness of such a biomimetic inspiration is proved by a numerical simulation of the proposed PKM torso in its basic movements.",
keywords = "Biomimetic inspiration, Humanoid robot, PKM torso, Torso design",
author = "Hulin Huang and Ceccarelli Marco and Weimin Zhang and Qiang Huang and Zhangguo Yu and Xuechao Chen",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015 ; Conference date: 02-08-2015 Through 05-08-2015",
year = "2015",
month = sep,
day = "2",
doi = "10.1109/ICMA.2015.7237646",
language = "English",
series = "2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1138--1143",
booktitle = "2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015",
address = "United States",
}