Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2009.15.9.952

Kinematic Analysis and Motion Implementation of a Humanoid Robot with a Serial and Parallel Structure  

Bae, Yeong-Geol (충남대학교)
Jung, Seul (충남대학교)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.9, 2009 , pp. 952-958 More about this Journal
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.
Keywords
parallel and serial robot; kinematics; motion following task;
Citations & Related Records

Times Cited By SCOPUS : 0
연도 인용수 순위
  • Reference
1 J. H. Park, W. K. Chung, and Y. I. Youm, 'Computation of gradient of manipulability for Kinematically redundant manipulators including dual manipulators system,' lCASE, 제1권 제1호, pp. 8-13, Jun. 1999   과학기술학회마을
2 신기태, 최진태, 이관희, 안현식, '불출기 여유자유도와 역기구학 해,' 제어.자동화.시스템공학 논문지, 제3권 제5호,pp.469-475, 1997
3 Carl D. Crane III and Joseph Duffy, 'Kinematic analysis of robot manipulators,' Cambridge University Press, 1998
4 전풍우, 'Exoskelecton 형태의 모션 캡쳐 장치를 이용한 이동 로봇의 원격 제어,' 충남대 석사논문, 2003
5 송덕희, '퍼지 제어를 이용한 휴머노이드 로봇 팔 시스템의 신경망 보상 제어,' 충남대 석사논문, 2005
6 이운규, '비전 시스템 기반의 두 팔 로봇의 제어,'충남대 석사논문,2006
7 L.-W. Tsai, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, Wiley, 1999
8 W. K. Kim, K. K. Huh, and B.-J Yi, 'Kinematic/dynamic optimal design of a stewart platform mechanism,' 제어.자동화.시스템공학 논문지, 제2권 제1호, pp. 45-52, 1996   과학기술학회마을
9 C. S. Vee and K. B. Lim, 'Forward kinematics solution of Stewart platform usingneural networks,' Neurocomputing, vol. 16, no. 4, pp. 89-95, 1995
10 송세경, 권동수, '구속조건을 사용한 6자유도 병렬 매니플레이터의 정기구학의 단순화 해석,' 제어.자동화.시스템공학 논문지, 제6권 제7호, pp. 559-567, July 2000   과학기술학회마을
11 M. Callegari, M. Palpacelli, and M. Scarponi, 'Kinematics of the 3-CPU Parallel Manipulator assembled for Motions of Pure Transition,' ICRA, pp. 4020-4025, 2005