Towards an Improvement of the SABIAN Humanoid Robot: from Design to Optimization

Abstract

In this paper the humanoid robot SABIAN (Sant'Anna BIpedal humANo id) is presented and analyzed in details. In particular, the differences between the SABIAN plat form and the WABIAN-2 (WAseda BIpedal humANo id), its original Japanese version, are underlined. So me innovative solutions, as the exact calcu lation of the error mass and the adoption of a new shaft with incorporated joint used to transfer motion, allowed to improve the performances of the robot. Other works, such as the development of a harvesting system for recovering energy, are planned for the next future in order to optimize the platform.