Motion control of the robot finger driven by cable system. Finger system of the piano playing robot WABOT-2mkII

Shigeki Sugano, Shinyo Muto, Ichiro Kato

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

1 Citation (Scopus)

Abstract

The WABOT-2mkII is an anthropomorphic robot that can execute actual piano playing work, a piece of information processing work, completely using its autonomous functions. Each hand has 16 degrees of freedom (DOF) in total. To realize the integration of multiple DOF, the cable-conduit drive system is introduced. This study has the purpose of clarifying the motion relationship between the actuator and the joint, establishing a cable system motion control method, and applying it to WABOT-2mkII system. In this paper, the mechanism of WABOT-2mkII, the representation of a cable system by models, and the observations of the control method are discussed.

Original languageEnglish
Title of host publicationComputers in Engineering 1990
EditorsG.L. Kinzel, S.M. Rohde
PublisherPubl by ASCE
Pages573-578
Number of pages6
ISBN (Print)0791805158
Publication statusPublished - 1990 Dec 1
EventProceedings of the 1990 ASME International Computers in Engineering Conference and Exposition - Boston, MA, USA
Duration: 1990 Aug 51990 Aug 9

Publication series

NameComputers in Engineering 1990

Other

OtherProceedings of the 1990 ASME International Computers in Engineering Conference and Exposition
CityBoston, MA, USA
Period90/8/590/8/9

ASJC Scopus subject areas

  • Engineering(all)

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    Sugano, S., Muto, S., & Kato, I. (1990). Motion control of the robot finger driven by cable system. Finger system of the piano playing robot WABOT-2mkII. In G. L. Kinzel, & S. M. Rohde (Eds.), Computers in Engineering 1990 (pp. 573-578). (Computers in Engineering 1990). Publ by ASCE.