The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
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Masterarm $^+$ Development for Teleoperation of a Humanoid Robot

휴먼 로봇의 원경조종용 마스터 암$^+$ 개발에 관한 연구

  • 김윤상 (Univ. of Washington 전기공학과 Post-Doc. 공박) ;
  • 이장욱 (삼성 SDI R&D 센터 전임연구원) ;
  • 이수용 (Texas A&M Univ 기계공학과 부교수.공박) ;
  • 김문상 (한국과학기술연구원 휴머로봇연구센터 센터장.공박) ;
  • 이종원 (한국과학기술연구원 휴먼로봇연구센터 책임연구원.공박)
  • Published : 2001.06.01
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Abstract

In this paper, a masterarm for teleoperation of humanoid robot is presented. This masterarm is based human kinematics, which not only mimics human posture/motion completely, but also has wider work range. In addition, by using the distributed controller architecture and electric brake for force reflection, small size and lightweight of the device can be achieved. Some size and lightweight of the device can be achieved. Some important experiments integrated with the humanoid robot, CENTAUR developed by KIST(Korea Institute of Science and Technology), are conducted to evaluate the performance of the proposed masterarm.

Keywords

References

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