Abstract
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-link structure, 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.
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© 2000 Springer-Verlag London Limited
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Nakamura, Y., Okada, M., Hoshino, Si. (2000). Development of the torso robot — Design of the new shoulder mechanism ‘cybernetic shoulder’. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119428
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DOI: https://doi.org/10.1007/BFb0119428
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Publisher Name: Springer, London
Print ISBN: 978-1-85233-210-5
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