Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Kinematic Analysis and Motion Implementation of a Humanoid Robot with a Serial and Parallel Structure

직렬.병렬 혼합구조의 휴머노이드 상체로봇의 기구학 해석 및 움직임 구현

  • Published : 2009.09.01
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Abstract

This article presents a combined structure of serial and parallel mechanisms for a humanoid robot. The 3 DOF parallel structure is designed and added to the waist of the humanoid robot arm to give flexible bending and rotating motions. Forward and inverse kinematics of a serial and parallel robot have been analyzed to generate motions. Simulation studies of verifying kinematics solutions of the parallel robot have been done. Experimental studies of mimicking shake-hands motion have been conducted to show the feasibility and usability of the combined structure.

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References

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