DocumentCode
3503916
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
Volume
2
fYear
1999
fDate
36495
Firstpage
998
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;
fLanguage
English
Publisher
ieee
Conference_Titel
TENCON 99. Proceedings of the IEEE Region 10 Conference
Conference_Location
Cheju Island
Print_ISBN
0-7803-5739-6
Type
conf
DOI
10.1109/TENCON.1999.818589
Filename
818589
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