An experimental validation of a novel humanoid torso

In this paper a novel humanoid torso prototype is presented in two design configurations: the torso structure and the humanoid torso with head, arms and hands. An experimental validation has been carried out for each configuration while replicating human-like basic movements. The aim of this paper is to characterize the performance of the prototype by means of angles displacements and linear accelerations measured by an IMU (Inertia Measurement Unit) on the humanoid spine. Furthermore, power consumption has been monitored to check the feasibility for the usage of a Li-Po battery as onboard power supply in order to make the humanoid torso fully portable and to permit its assembly in a full humanoid robot.