{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,11,19]],"date-time":"2024-11-19T18:38:53Z","timestamp":1732041533802},"reference-count":18,"publisher":"World Scientific Pub Co Pte Ltd","issue":"02","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2022,4]]},"abstract":" This paper presents design and performance of a prototype of new humanoid arm that has been developed at the LARM2 laboratory of the University of Rome \u201cTor Vergata\u201d. This new arm, called LARMbot PK arm, is an upper limb that is designed for the LARMbot humanoid robot. LARMbot is a humanoid robot designed to move freely in open spaces, and able to adapt to task environment. Its objective is to transport objects weighing a few kilograms in order to facilitate the restocking of workstations, or to manage small warehouses and other tasks feasible for humanoids. The LARMbot PK arm is conceived as a solution that is designed on the basis of a parallel tripod structure using linear actuators to provide high agility of movement. This solution is designed with components that can be found on the market or can be created by 3D printing in order to offer a quality and price ratio well convenient for user-oriented humanoid robots. Experimental tests are discussed with the built prototype to demonstrate the capabilities of the proposed solution in terms of agility, autonomy, and power to validate the LARMbot PK arm solution as a satisfactory solution for the new upper limbs of the LARMbot humanoid robot. <\/jats:p>","DOI":"10.1142\/s0219843622500098","type":"journal-article","created":{"date-parts":[[2022,5,26]],"date-time":"2022-05-26T08:43:53Z","timestamp":1653554633000},"source":"Crossref","is-referenced-by-count":5,"title":["Design and Performance of a LARMbot PK Arm Prototype"],"prefix":"10.1142","volume":"19","author":[{"given":"Axel","family":"Fort","sequence":"first","affiliation":[{"name":"Department of GMSC, Prime Institute CNRS, ENSMA, University of Poitiers, Poitiers, UPR 3346, France"}]},{"given":"Med Amine","family":"Laribi","sequence":"additional","affiliation":[{"name":"Department of GMSC, Prime Institute CNRS, ENSMA, University of Poitiers, Poitiers, UPR 3346, France"}]},{"ORCID":"http:\/\/orcid.org\/0000-0001-9388-4391","authenticated-orcid":false,"given":"Marco","family":"Ceccarelli","sequence":"additional","affiliation":[{"name":"Laboratory of Robot Mechatronics, Department of Industrial Engineering, University of Rome Tor Vergata, Roma 00133, Italy"}]}],"member":"219","published-online":{"date-parts":[[2022,6,29]]},"reference":[{"issue":"2","key":"S0219843622500098BIB001","first-page":"8","volume":"1","author":"Ceccarelli M.","year":"2017","journal-title":"MOJ Int. 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