Abstract
In this paper, the operation of CALUMA (CAssino Low-cost hUMAnoid) robot has been investigated for a task while carrying a load. CALUMA robot is the result of a design project that has been elaborated for designing and building a low-cost easy-operation humanoid robot by summarizing experiences and prototypes that have been developed at LARM. Dynamic simulations have been computed by using ADAMS software in order to study dynamical aspects of CALUMA operation while carrying a load. The dynamic simulations have also been used for studying the manipulation performance of CALUMA robot. Simulations have given results that confirm the feasibility of the proposed design, as shown in the reported examples.