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.
|ホスト出版物のタイトル||Unknown Host Publication Title|
|編集者||Adam Morecki, Giovanni Bianchi, K. Kedzior|
|出版物ステータス||Published - 1985 12 1|
ASJC Scopus subject areas