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

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

^*Corresponding author for this work

School of Creative Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Unknown Host Publication Title
Editors	Adam Morecki, Giovanni Bianchi, K. Kedzior
Publisher	MIT Press
Pages	153-161
Number of pages	9
ISBN (Print)	0262132087
Publication status	Published - 1985 Dec 1

ASJC Scopus subject areas

Engineering(all)

Cite this

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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.",

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AB - 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.

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

Abstract

ASJC Scopus subject areas

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