Mechanical Design of Humanoids

robotThis paper presents the modeling and the design of the HYDROïD (HYdraulic anDROïD) humanoid robot. Our motivation related to the increase of understanding of human being locomotion and manipulation tasks achievement leads us to focus on the kinematical structure and the actuation aspects. The first part of this paper deals with a research work aimed to develop a new generation of three degrees of freedom (DOF) Continue reading