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Humanoid robots are employed in a wide range of fields to replicate human actions. This paper presents the mechanism, configuration, mathematical modeling, and workspace of a 3D printed humanoid robot – Amaranthine. It also discusses the potential scope of humanoid robots in the present day and future. Robots can be programmed for automation as per the demand of the task or operations to be performed. Humanoid robots, while being one of the small groups of service robots in the current market, have the greatest potential to become the industrial tool of the future. Introducing a Humanoid Robot-like Amaranthine holds huge scope majorly in the fields of medical assistance, teaching aid, large industries where heavy-duty operations require application-specific software, etc. Amaranthine was 3D printed and assembled at the RISC Lab of University of Bridgeport.

Stewart parallel manipulator is well known for its superiority in achieving better stiffness, accurate motion with precise positioning, robust mechanism, high payload capacity, etc. It is widely used in various applications such as flight simulators, satellite dish positioning, hexapod telescope, medical surgery, simulation of earthquakes, etc. It is important to note that the inverse kinematics solution of the Stewart platform can be determined easily with the help of an analytical solution, whereas forward kinematics is intractable analytically. Therefore, in this work, an attempt is made to solve the forward kinematics problem of the Stewart platform using the soft-computing-based technique. A multi-layer feed-forward neural network with one hidden layer is trained after utilizing different metaheuristic optimizers, namely Particle Swarm Optimization (PSO), Modified Chaotic, Invasive Weed Optimization (MCIWO), and Teachers’ Learning-Based Optimization (TLBO) methodologies to solve the forward kinematics of the Stewart platform. Further, a detailed analysis is conducted on the results obtained by these methods, namely PSO-NN, MCIWO-NN and TLBO-NN. The dataset for training the NN is generated by using the solution of inverse kinematics.

Humanoid robots are employed in a wide range of fields to replicate human actions. This paper presents the mechanism, configuration, mathematical modeling, and workspace of a 3D printed humanoid robot – Amaranthine. It also discusses the potential scope of humanoid robots in the present day and future. Robots can be programmed for automation as per the demand of the task or operations to be performed. Humanoid robots, while being one of the small groups of service robots in the current market, have the greatest potential to become the industrial tool of the future. Introducing a Humanoid Robot-like Amaranthine holds huge scope majorly in the fields of medical assistance, teaching aid, large industries where heavy-duty operations require application-specific software, etc. Amaranthine was 3D printed and assembled at the RISC Lab of University of Bridgeport.