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

*この研究の対応する著者

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルUnknown Host Publication Title
編集者Adam Morecki, Giovanni Bianchi, K. Kedzior
出版社MIT Press
ページ153-161
ページ数9
ISBN(印刷版)0262132087
出版ステータスPublished - 1985 12 1

ASJC Scopus subject areas

  • 工学(全般)

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