Development of a Large Moving Range Shoulder Joint for a Humanoid Robot
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- Urai Kenji
- Graduate School of Engineering Science, Osaka University/ Center for Information and Neural Networks, National Institute of Information and Communications Technology
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- Nakata Yoshihiro
- Graduate School of Engineering Science, Osaka University/ Center for Information and Neural Networks, National Institute of Information and Communications Technology
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- Nakamura Yutaka
- Graduate School of Engineering Science, Osaka University/ Center for Information and Neural Networks, National Institute of Information and Communications Technology
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- Ishiguro Hiroshi
- Graduate School of Engineering Science, Osaka University/ Center for Information and Neural Networks, National Institute of Information and Communications Technology
Bibliographic Information
- Other Title
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- 物理的に連結された空気圧シリンダの連動駆動を利用したヒト型ロボットの肩関節機構の開発
- 物理的に連結された空気圧シリンダの連動駆動を利用したヒト型ロボットの肩関節機構の開発 : 連動する二重関節機構による広可動域関節の実現
- ブツリテキ ニ レンケツ サレタ クウキアツ シリンダ ノ レンドウ クドウ オ リヨウ シタ ヒトガタ ロボット ノ カタカンセツ キコウ ノ カイハツ : レンドウ スル ニジュウ カンセツ キコウ ニ ヨル コウカドウイキ カンセツ ノ ジツゲン
- —連動する二重関節機構による広可動域関節の実現—
- —A Double Joint Mechanism Driven by Mutually Inter-connected Air Cylinders—
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Description
This paper presents a shoulder joint for a human-like robotic arm. This joint mechanism is composed of two ball joints laying back to back and the range of motion is larger than that of a usual ball joint. Since the joint is driven by the mutually inter-connected air cylinders, the control signal can be operated equally with a normal ball joint shoulder. The prototype of the joint with 6 air cylinders and its kinematic model were developed to confirm its range of motion. We also achieved an overhand throwing motion with a robotic arm using the proposed shoulder mechanism thanks to the large moving range.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 34 (9), 623-630, 2016
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390001204729572992
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- NII Article ID
- 130005250314
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 027777505
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed