A mechanism design of a chest sub-system for humanoid robots

We present the design issue of a chest mechanism for a humanoid robot. The chest design has presented robustness and compactness for the assembly that is composed mainly of commercial components. The proposed chest has been considered for an application in the iCub humanoid structure. A 3D-CAD model of iCub with a chest mechanism has been used for simulating the chest sub-system operation. The feasibility of the new design has been validated through dynamic simulations. The satisfactory results have been shown through plots with smooth shapes of curve evolutions and suitable values of significant kinematic and dynamic parameters of the proposed structure.