Title :
Design of masterarm based on human kinematics and its integration to humanoid robot
Author :
Lee, Jangwook ; Changkyun Nob ; Lee, Sooyong ; Kim, Munsang ; Park, Mignon
Author_Institution :
Dept. of Electr. & Comput. Eng., Yonsei Univ., Seoul, South Korea
Abstract :
In this paper a new masterarm based on human kinematics is proposed. Its controller structure, which consists of two controller parts, host and satellite, enables it to get a faster data update. The forward kinematics solution is derived for simplicity of hardware. To examine performance of this masterarm, it is implemented on the humanoid robot Centaur 2. This shows that this masterarm can be used for the tele-operation with a slave robot as well as the motion planner for any industrial robot
Keywords :
robot kinematics; Centaur 2 robot; controller structure; data update; human kinematics; humanoid robot; industrial robot; masterarm; motion planner; slave robot; tele-operation; Delay effects; Hardware; Humanoid robots; Humans; Kinematics; Master-slave; Robot control; Robot sensing systems; Satellites; Service robots;
Conference_Titel :
TENCON 99. Proceedings of the IEEE Region 10 Conference
Conference_Location :
Cheju Island
Print_ISBN :
0-7803-5739-6
DOI :
10.1109/TENCON.1999.818589
