A shoulder structure of muscle-driven humanoid with shoulder blades
A shoulder structure of muscle-driven humanoid with shoulder blades
复制标题
具有肩胛骨的肌肉驱动类人肩部结构
DOI：
10.1109/iros.2005.1545123
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
M. Inaba
中科院分区：
文献类型：
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作者：
Yoshinao Sodeyama;I. Mizuuchi;T. Yoshikai;Y. Nakanishi;M. Inaba
我们试图创造一种创新的人形机器人，通过模仿人类肩膀的结构，特别是肩胛骨，增加灵活性。我们设计了一种用于肌肉驱动的仿人机器人的柔性肩部结构，该结构具有以下优点：1）运动范围广，肩部像人类一样灵活，2）肩部结构建在胸部外侧，允许胸部内部的许多部件空间。我们开发了一个原型人形机器人命名为“刀片”，它有一个肌肉骨骼的人形躯干与肩胛骨，由电机驱动的肌腱。本文介绍了肩胛骨的结构的优点，一个人形的肩胛骨的发展，和一些实验显示其运动范围内使用的原型人形机器人，我们提出。
We are trying to create an innovative humanoid which has increased flexibility by imitating the structure of a human shoulder, especially the shoulder blade. We designed a flexible shoulder structure for a muscle-driven humanoid robot which has the following merits, 1) wide range of movement and flexible shoulder like humans, 2) having the shoulder structure built on to the outside of the chest, allowing space for a lot of parts inside the chest. We developed a prototype humanoid robot named "Blade" which has a musculo-skeletal humanoid torso with the shoulder blade, driven by motor-actuated tendons. This paper describes the advantages of the structure of the shoulder blade, the development of a humanoid with the shoulder blade, and some experiments showing its range of movement using the prototype humanoid robot we presented.