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- Title
Development of redundant shoulder complex of human-like robot driven by flexible wire tendons.
- Authors
Taeyong Choi; Joon-Woo Lee; Doohyung Kim; Hyunmin Do; Dongil Park; Chanhun Park
- Abstract
For dual-arm robot systems, which continue to become more common in the field of industrial robotics, a redundant shoulder complex could be very important to new developments. However, constructing a kinematically redundant shoulder complex is difficult because of spatial constraints. A novel redundant shoulder complex for a human-like robot that is driven by flexible wire tendons against spatial constraints is proposed. The kinematically redundant shoulder complex allows the human-like robot to generate more natural motions because of the availability of redundant degrees of freedom (DOFs), i.e. six DOFs per side. To control the proposed shoulder complex, a hybrid control scheme is used; the positioning precision was considered, and the ability of the shoulder complex to perform several human-like motions was verified.
- Subjects
INDUSTRIAL robots; WIRE sculpture; DEGREES of freedom; MOTION control devices; MACHINE theory
- Publication
Electronics Letters (Wiley-Blackwell), 2014, Vol 50, Issue 20, p1417
- ISSN
0013-5194
- Publication type
Article
- DOI
10.1049/el.2014.0962