KEYBOARD PLAYING BY AN ANTHROPOMORPHIC ROBOT: FINGERS AND ARM MODEL AND ITS CONTROL SYSTEM OF WAM-7R.

S. Sugano, J. Nakagawa, Y. Tanaka, I. Kato

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The purpose of this study is to improve dexterity, speed and 'intelligence' of robots by the development of an anthropomorphic robot playing keyboards. The basic necessary data for the design of this robot are obtained by analysis of human postures and motions of arms and fingers playing keyboards, by regarding them as a link mechanism. The robot with 14 degrees of freedom (DOF) for fingers, 7 DOF for the arm, totalling 21 DOF, has been developed based on these data. Fingers and the arm are made of CFRP and driven by dc motors. In terms of the control system, a computer system of hierarchical structure with three levels is constituted, modelling a human central-nervous-system structure, since this robot is an anthropomorphic multidegrees-of-freedom system.

Original languageEnglish
Title of host publicationUnknown Host Publication Title
EditorsAdam Morecki, Giovanni Bianchi, K. Kedzior
PublisherMIT Press
Pages153-161
Number of pages9
ISBN (Print)0262132087
Publication statusPublished - 1985 Dec 1

ASJC Scopus subject areas

  • Engineering(all)

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