By Topic

Kinematic design of a humanoid robotic shoulder complex

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
J. Lenarcic ; Dept. of Autom. Biocybern. & Robotics, Ljubljana Univ., Slovenia ; M. M. Stanisic ; V. Parenti-Castelli

We present a mechanical design for a humanoid robotic shoulder complex. The aim of the mechanism is to support the load of the arm and to copy four principal motions of the human shoulder in order to furnish the desired arm mobility and reachability. We utilize a fully parallel mechanism with four driven legs that provide to the movable platform (on which the arm is to be attached) three rotations and one translation. These three rotations represent the shoulder's flexion-extension (about the vertical axis), the shoulder's abduction-adduction (about the anterior-posterior axis), and the shoulder's rotation (about the medial-lateral axis). The fourth degree of freedom is controlled depending on the angles of the first two rotations and represents the shoulder contraction and enlargement along the medial-lateral axis

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:1 )

Date of Conference: