書誌事項
- タイトル別名
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- Development of Cybernetic Shoulder. A Three DOF Mechanism that Imitates Human Shoulder-Motions.
- サイバネティック ショルダ ノ カイハツ ニンゲン ノ カタ ノ ウゴキ オ モホウ シタ 3ジユウド キコウ
- —A Three DOF Mechanism that Imitates Human Shoulder-Motions—
- ―人間の肩の動きを模倣した3自由度機構―
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説明
In this paper, we develop a three DOF mechanism for humanoid robots, which we call the cybernetic shoulder. This mechanism imitates the motion of the human shoulder and does not have a fixed center of rotation, which enables unique human-like motion in contrast to the conventional design of anthropomorphic seven DOF manipulators that have base three joint axes intersecting at a fixed point. Taking advantage of the cybernetic shoulder's closed kinematic chain, we can easily introduce the programmable passive compliance adopting the actuation redundancy and elastic members. This is important for the integrated safety of humanoid robots that are inherently required to physically interact with the human.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 18 (5), 690-698, 2000
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204727365120
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- NII論文ID
- 10004734008
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 5463688
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDLサーチ
- Crossref
- CiNii Articles
- OpenAIRE
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- 抄録ライセンスフラグ
- 使用不可