%0 Journal Article
%T Towards an Improvement of the SABIAN Humanoid Robot: from Design to Optimization
%J Journal of Mechanical Engineering and Automation
%@ 2163-2413
%D 2012
%I 
%R 10.5923/j.jmea.20120204.05
%X In this paper the humanoid robot SABIAN (SantĄŻAnna BIpedal humANoid) is presented and analyzed in details. In particular, the differences between the SABIAN platform and the WABIAN-2 (WAseda BIpedal humANoid), its original Japanese version, are underlined. Some innovative solutions, as the exact calculation 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.
%K Biped Robots
%K Locomotion
%K Humanoids
%K WABIAN-2
%K SABIAN
%K ZMP
%U http://article.sapub.org/10.5923.j.jmea.20120204.05.html