Minimized-Torque-Oriented Design of Parallel Modular Mechanism for Humanoid Waist

  • Mouna Souissi
  • Vincent HugelEmail author
  • Samir Garbaya
  • John Nassour
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 4)


This article focuses on the design and integration of a parallel modular mechanism inside the waist of a human-sized biped robot to enable tilting motion of the torso. The mechanism for each tier is adapted from the parallel 2-degree-of-freedom tilting part of an existing 3-rotation flight simulator structure. The main contribution of this work is the design of a minimized-torque-oriented optimization process that takes into account the upper mass load to be supported by the mechanism, the constrained volume of the waist, a minimal dexterity threshold, and the tilting range required. The design process aims to determine the relative size and position of the different parts of the mechanism. The objective consists of minimizing the actuator average torque over the entire tilt range, and to evaluate how much torque reduction this parallel mechanism can bring compared with the use of a serial mechanism. Up to three modules can be stacked inside the waist to limit the actuator torques and to reach the required tilting range for sitting and bending movements.


Parallel mechanism Humanoid waist Design optimization Global torque minimisation Actuator sizing 


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  • Mouna Souissi
    • 1
  • Vincent Hugel
    • 2
    Email author
  • Samir Garbaya
    • 3
  • John Nassour
    • 4
  1. 1.HEILilleFrance
  2. 2.Université de ToulonToulonFrance
  3. 3.ENSAMParisFrance
  4. 4.Technische Universität ChemnitzChemnitzGermany

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