Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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The Design of Robot Arm based on the Morphological.Neurological Model of Human

인간의 신경학적.생태학적 모델에 기반한 로봇 팔 설계 기법

  • 배영철 (전남대학교 공과대학 전기.전자통신.컴퓨터공학부) ;
  • 최형윤 (순천대학교 공과대학 정보통신공학부) ;
  • 문용선 (순천대학교 공과대학 정보통신공학부)
  • Published : 2007.08.25
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Abstract

Current humanoid robot technology has a problem of lacking opened methodology about mechanisms of analysis, design, implementation, and integration for robot development but is focused only on manufacture robot and implementation of technology. In this paper, to overcome problems of humanoid robots that have been shown since and for construction of new structure which satisfy the concept of opening, networking, and modularization that is the development direction of future robot, we proposed morphological and neurological model of human arm and design method of humanoid robot arm based on the each joint design and kinematics model.

현재 휴머노이드 로봇기술은 로봇의 제작과 기술의 구현에만 초점이 맞추어져 있으며, 로봇 개발을 위한 분석, 설계, 구현, 통합 등의 개발 메커니즘들에 대한 개방화된 방법론은 개발되어 않았다는 문제점이 있다. 본 논문에서는 현재까지 나타난 휴머노이드 로봇의 문제점을 극복하고, 미래형 로봇의 발전방향인 "개방화", "네트워크화", "모듈화" 개념을 만족하는 새로운 구조를 설계하기 위한 인간 팔의 형태학적 신경학적 모델을 제시하고 이를 기반으로 로봇의 각 관절 설계와 기구학적 모델에 의한 휴머노이드 로봇 팔의 설계 방법을 제시하였다.

Keywords

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