scholarly journals Simulating CALUMA (CAssino Low-Cost hUMAnoid) Robot Carrying a Load

2007 ◽  
Vol 4 (1) ◽  
pp. 1-8
Author(s):  
Nestor Eduardo Nava Rodriguez ◽  
Giuseppe Carbone ◽  
Marco Ceccarelli
Keyword(s):  
Humanoid Robot ◽  
Low Cost ◽  
Dynamic Simulations ◽  
Design Project ◽  
Adams Software ◽  
Easy Operation

In this paper, the operation of CALUMA (CAssino Low-cost hUMAnoid) robot has been investigated for a task while carrying a load. CALUMA robot is the result of a design project that has been elaborated for designing and building a low-cost easy-operation humanoid robot by summarizing experiences and prototypes that have been developed at LARM. Dynamic simulations have been computed by using ADAMS software in order to study dynamical aspects of CALUMA operation while carrying a load. The dynamic simulations have also been used for studying the manipulation performance of CALUMA robot. Simulations have given results that confirm the feasibility of the proposed design, as shown in the reported examples.

A Design and Simulation of CALUMA (CAssino Low-Cost hUMAnoid Robot)

2006 ◽  
Author(s):  
Nestor Eduardo Nava Rodriguez ◽  
Giuseppe Carbone ◽  
Marco Ceccarelli
Keyword(s):  
Humanoid Robot ◽  
Low Cost ◽  
Design Activity ◽  
Basic Operation ◽  
Dynamic Simulations ◽  
3D Cad ◽  
Final Project ◽  
Dynamical Simulation ◽  
Adams Software ◽  
Easy Operation

At LARM in Cassino a research line has been focused on the design of robotic systems with low-cost easy-operation features as challenges for a user-oriented Robotics. In this frame a final project has been stated to design and built a low-cost easy-operation humanoid robot as a systems summarizing experiences and prototypes that have been carried out at LARM. A humanoid robot, named as CALUMA (CAssino Low-cost hUMAnoid robot) has been designed and described by using suitable models and 3D-CAD kinematic simulations in order to define feasible design and operation. A dynamic simulations have been carried out by using ADAMS software in order to study the dynamical aspects of basic operation with the aim to optimise the design and operation programming. Results of this design activity through dynamical simulation are reported in this paper.

Simulation results for design and operation of CALUMA, a new low-cost humanoid robot

Robotica ◽  
2008 ◽  
Vol 26 (5) ◽  
pp. 601-618 ◽  
Author(s):  
Nestor Eduardo Nava Rodriguez ◽  
Giuseppe Carbone ◽  
Marco Ceccarelli
Keyword(s):  
Dynamic Simulation ◽  
Humanoid Robot ◽  
Low Cost ◽  
Basic Operation ◽  
Design Evolution ◽  
Simulation Results ◽  
Easy Operation

SUMMARYThis paper presents simulation results for basic operation of CALUMA (CAssino Low-cost hUMAnoid robot). The new humanoid robot CALUMA is described with its characteristics of low-cost design and easy-operation behavior. A CALUMA model in ADAMS environment has been elaborated. The CALUMA ADAMS model has been used for a dynamic simulation of robot operation. Three modes for the dynamic simulation have been studied, namely straight walking, walking with a grasped object in the hand, and lifting an object. The results of simulating those basic operations show the feasibility of the proposed design for CALUMA robot and validate its operation. Improvements have been illustrated in the design evolution for the robot structure and operation as suggested by simulation results.

DESIGN AND SIMULATION OF A 1-DOF ANTHROPOMORPHIC CLUTCHED ARM FOR HUMANOID ROBOTS

2010 ◽  
Vol 07 (01) ◽  
pp. 157-182 ◽  
Author(s):  
HAO GU ◽  
MARCO CECCARELLI ◽  
GIUSEPPE CARBONE
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Robot Arm ◽  
Dynamic Simulations ◽  
Suitable Combination ◽  
User Friendly

In this paper, problems for an anthropomorphic robot arm are approached for an application in a humanoid robot with the specific features of cost oriented design and user-friendly operation. One DOF solution is proposed by using a suitable combination of gearing systems, clutches, and linkages. Models and dynamic simulations are used both for designing the system and checking the operation feasibility.

scholarly journals Operation strategy for a low-cost easy-operation Cassino Hexapod

2008 ◽  
Vol 4 (4) ◽  
pp. 149-156 ◽  
Author(s):  
Giuseppe Carbone ◽  
Aviral Shrot ◽  
Marco Ceccarelli
Keyword(s):  
Low Cost ◽  
Operation Strategy ◽  
Easy Operation

scholarly journals A Low-Cost Easy-Operation Hexapod Walking Machine

10.5772/5645 ◽  
2008 ◽  
Vol 5 (2) ◽  
pp. 21 ◽  
Author(s):  
Giuseppe Carbone ◽  
Marco Ceccarelli
Keyword(s):  
Low Cost ◽  
Walking Machine ◽  
Easy Operation

A Characterization of Cam Transmissions Through an Identification of Lumped Parameters

2006 ◽  
Author(s):  
Giuseppe Carbone ◽  
Chiara Lanni ◽  
Marco Ceccarelli ◽  
Giovanni Incerti ◽  
Monica Tiboni
Keyword(s):  
Dynamic Behaviour ◽  
Low Cost ◽  
Experimental Tests ◽  
Experimental Procedure ◽  
Operation Procedure ◽  
Alternative Testing ◽  
Lumped Parameters ◽  
Main Components ◽  
Easy Operation

In this paper, a numerical-experimental procedure is proposed for an identification of parameters in cam transmissions. Models with lumped parameters are defined specifically for cam transmissions. Experimental tests are carried out on main components of a cam transmission in order to estimate the values of mass, damping and stiffness lumped parameters through a low-cost easy-operation procedure. Experimental tests are also carried out in order to characterize the dynamic behaviour of a whole cam transmission. A comparison of numerical and experimental results is used in order to calibrate the values of lumped parameters. Experimental tests have been carried out by means of suitable test-beds for cams that have been built specifically at University of Brescia and at LARM in Cassino as alternative testing solutions.

scholarly journals The Use of Algae and Fungi for Removal of Pharmaceuticals by Bioremediation and Biosorption Processes: A Review

Water ◽  
2019 ◽  
Vol 11 (8) ◽  
pp. 1555 ◽  
Author(s):  
Andreia Silva ◽  
Cristina Delerue-Matos ◽  
Sónia Figueiredo ◽  
Olga Freitas
Keyword(s):  
Aquatic Environment ◽  
Capital Investment ◽  
Environmental Chemistry ◽  
Wastewater Treatment Plants ◽  
Low Cost ◽  
Treatment Processes ◽  
Operation Costs ◽  
Emerging Issues ◽  
By Products ◽  
Easy Operation

The occurrence and fate of pharmaceuticals in the aquatic environment is recognized as one of the emerging issues in environmental chemistry. Conventional wastewater treatment plants (WWTPs) are not designed to remove pharmaceuticals (and their metabolites) from domestic wastewaters. The treatability of pharmaceutical compounds in WWTPs varies considerably depending on the type of compound since their biodegradability can differ significantly. As a consequence, they may reach the aquatic environment, directly or by leaching of the sludge produced by these facilities. Currently, the technologies under research for the removal of pharmaceuticals, namely membrane technologies and advanced oxidation processes, have high operation costs related to energy and chemical consumption. When chemical reactions are involved, other aspects to consider include the formation of harmful reaction by-products and the management of the toxic sludge produced. Research is needed in order to develop economic and sustainable treatment processes, such as bioremediation and biosorption. The use of low-cost materials, such as biological matrices (e.g., algae and fungi), has advantages such as low capital investment, easy operation, low operation costs, and the non-formation of degradation by-products. An extensive review of existing research on this subject is presented.

scholarly journals A Low-Cost Robot Positioning System for a First-Year Engineering Cornerstone Design Project

2016 ◽  
Author(s):  
David Frank ◽  
Kevin Witt ◽  
Chris Hartle ◽  
Jacob Enders ◽  
Veronica Beiring ◽  
...  
Keyword(s):  
Low Cost ◽  
First Year ◽  
Positioning System ◽  
Design Project ◽  
Robot Positioning
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