Design of programmable passive compliance shoulder mechanism

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 2001, Pages 348-353

  Okada, M ^a   Nakamura, Y ^a   Ban, S ^a  

^a UNIVERSITY OF TOKYO   (Japan)

Author keywords

Humanoid robot; Prgrammable passive compliance; Skill of compliance; The cybernetic shoulder

Indexed keywords

CYBERNETICS; DEGREES OF FREEDOM (MECHANICS); IMPEDANCE MATCHING (ELECTRIC); KINEMATICS; KINETIC ENERGY; POTENTIAL ENERGY; ROBOT PROGRAMMING;

PROGRAMMABLE PASSIVE COMPLIANCE (PPC);

ROBOTS;

EID: 0034861025     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (9)

1. Compliance and control
2. Stable pretension by a robot hand with elastic fingers
3. Mechanical impedance control in assistive devices and manipulators
4. Factive stiffness control of a manipulator in cartesian coordinates
5. Impedance control: An approach to manipulation: Part 1-3
6. Design of components for programmable passive impedance
7. Development of the cybernetic shoulder - A three DOF mechanism that imitates biological shoulder-motion
8. Design and development of a new robot joint using a mechanical impedance adjuster
9. On tendon-driven robotic mechanism with redundant tendons