Realization of Human Neck Motion with Novel Robotic Mechanism

被引：0
|
作者：
Jeung, Minwoong [1 ]
Lee, Giuk [2 ]
Oh, Yonghwan [2 ]
机构：
[1] Yonsei Univ, Dept Mech Engn, Seoul 03722, South Korea
[2] Korea Inst Sci & Technol, Ctr Robot Res, Seoul 02792, South Korea
来源：
2016 13TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2016年
关键词：
Human-like; Kinematics; Hybrid mechanism; Humanoid neck and mechanical design; DESIGN;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a novel robotic neck utilizing 4 degrees-of-freedom (DOF) hybrid mechanism for human-robot interaction (HRI). For this robot, human-like motion is an important factor. To realize human neck motion, the conceptual design is inspired by the anatomical data such as cervical spine. Following this, the forward kinematics and velocity jacobian are formulated. Finally, we describe the mechatronics design and realize the neck motion.
引用
收藏
页码：482 / 486
页数：5
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