In this paper, laboratory experiments of LARMbot torso V1 are reported in the third mode, thereby providing a testing characterization. Sensors were used to measure parameters including the contact force between the shoulder and cables, linear acceleration, angles of the torso body, and power consumption. The results showed that the LARMbot torso V1 can bend successfully to the desired angles, and that it is able to complete a full motion smoothly. The LARMbot torso V1 can mimic human-like motiaons. Based on our analysis of the test results, improvements are suggested, and new designs are considered.

Developing a robotic torso mechanism is crucial in replicating human mobility in humanoid robots. Previous research has presented the LARMbot humanoid's torso as a potential solution, which has now been improved with a novel design proposed in this paper. We conduct a kinematic analysis on the proposed LARMbot torso design, which is developed through an analysis of the human spine's structure. A kinematic model of the novel design is proposed using piecewise constant curvature to capture the relationship between input and output parameters and to represent the workspace. A prototype is utilized for conducting experiments to test the human-like movements of the novel mechanism. The outcomes show that the proposed LARMbot torso architecture can enhance performance. The generated humanoid torso prototype has the capacity to bend approximately 30 deg, and as such, it can be expected to make humanoid robots achieve human-like motion and tasks.

The humanoid torso is crucial for the overall performance of a humanoid robot. Developing an effective humanoid spine is essential for enhancing this mechanism. This paper introduces a one-vertebral-disc unit inspired by human spine anatomy. A prototype was created using 3D-printed parts and commercially available components. Two general human-like motions are achieved using two servo motors and two pulleys, reducing the number of servo motors needed. The results indicate that a one-vertebral-disc unit can bend up to 15 degrees. The proposed mechanism functions effectively and successfully mimics human movements. It holds potential for integration into humanoid torsos, enabling efficient performance in human-like tasks in the future.

The fixture design of the bacteria bottle plays a vital role in designing a bottled fungus picking robot to save labor cost in the picking process of bottled fungus. This paper proposed a kind of clamping element design method based on regression models. Several sets of clamping elements were designed according to the appearance data of bacteria bottle. A single-factor test was conducted by using these clamping elements, and three levels of every factor were selected to obtain the desired values of clamping elements. Then, a Box–Behnken test was performed by selected levels. The established regression models described a numeric relationship between the variation of vital measurement points and all variation sources under a precise clamping element layout. To solve the problems in obtaining the direct parameters, a response surface method was presented based on the regression models. Finally, a test was used to demonstrate the effect of the optimized clamping elements when clamping a bacteria bottle. Through the related analysis and optimization, it was demonstrated that the holding effect of the clamping elements was the best under these conditions: the inner arc area was 4948 mm2; the downward displacement was 1.48 mm; and the rubber thickness was 3.69 mm. It showed that the proposed method was feasible, and the assembly quality after optimizing had been greatly improved. It can provide a reference for designing the bottle fixture of a picking machine.

Humanoid torso can contribute to avoiding obstacles, maintaining balance, or adjusting posture when humanoid robots conduct human-like tasks. To operate a humanoid torso, a proper control system is essential so that human-like motions can be conducted. In this paper, a closed-loop control strategy is developed according to the operation requirements of the proposed new LARMbot torso. A simulation of the proposed closed-loop control strategy is conducted by using Matlab software. Results show that the proposed control strategy can satisfy the requirements and can work well in simulation. Based on the closed-loop control strategy, the platform can bend around 40 deg stably. During the moving process, the maximum of velocity is about 13.5 deg/s. According to the obtained kinematic parameters in simulation, experiments are expected to be conducted with the prototype for evaluating the working performance of the proposed control system and the experimental characterization of the prototype in the future.