Model and Implementation of Master-Slave Basic Goniometric System for Real Time Control of a Mini Humanoid Robot

被引：1
|
作者：
Castellanos, Johanna S.
Solaque, Leonardo E.
Mellado Arteche, Martin
机构：
来源：
CERMA 2008: ELECTRONICS, ROBOTICS AND AUTOMOTIVE MECHANICS CONFERENCE, PROCEEDINGS | 2008年
关键词：
Goniometer; humanoid; master-slave System; Robonova; teleoperation; kinematic model;
D O I：
10.1109/CERMA.2008.100
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper will present the development of a basic goniometric system for control of movements in real time of a mini humanoid robot. The mini humanoid is Hitec's Robonova-1with a total of 16 degrees of freedom. The first prototype only included the degrees in relation with the arm, elbow joint and one shoulder joint. The project is presented in six steps: General description of Robonova; kinematic model of ok human and android arm; mechanical structure; electronic configuration and software interface.
引用
收藏
页码：502 / 507
页数：6
相关论文
共 50 条
  • [21] Modular design of master-slave surgical robotic system with reliable real-time control performance
    Aoki, Eisuke
    Suzuki, Takashi
    Kobayashi, Etsuko
    Sakuma, Ichiro
    Kozo, Konishi
    Hashizume, Makoto
    2006 1ST IEEE RAS-EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS, VOLS 1-3, 2006, : 1090 - +
  • [22] An intelligent master-slave collaborative robot system for cafeteria service
    Gao, Mingyu
    Zhou, Haiping
    Yang, Yuxiang
    Dong, Zhekang
    He, Zhiwei
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2022, 154
  • [23] Master-Slave Control for Construction Robot Teleoperation - Application of a Velocity Control with a Force Feedback Model -
    Yamada, Hironao
    Gong Ming-de
    Zhao Dingxuan
    JOURNAL OF ROBOTICS AND MECHATRONICS, 2007, 19 (01) : 60 - 67
  • [24] A Master-Slave Robot System for Minimally Invasive Laryngeal Surgery
    Luo, Haifeng
    Ding, Jienan
    Wang, Shuxin
    2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4, 2009, : 782 - 787
  • [25] A Real-Time Implementation of Walking Control for Humanoid Robot
    Sung, Ki-Won
    Kim, Min-Sung
    Park, In-Man
    Le Xuan Thu
    Han, Sung-Hyun
    2012 12TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2012, : 1882 - 1885
  • [26] Master-slave system research of a vascular interventional surgical robot
    Yu, H. Y.
    Wang, H. B.
    Zhang, W.
    Liu, H. Y.
    Chang, J. Y.
    Huang, D.
    PROCEEDINGS OF 2018 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (IEEE RCAR), 2018, : 469 - 473
  • [27] Master-slave system using Kinect and an industrial robot for teleoperations
    Arango, Carlos A.
    Martinez, Jose R.
    Perez, Vera Z.
    2013 PAN AMERICAN HEALTH CARE EXCHANGES (PAHCE), 2013,
  • [28] Master-slave Teleoperation Control using Time Delay Control
    Lim, Hae Jin
    Lee, Jong Kwang
    Lee, Hyo Jik
    Kim, Kiho
    Kang, E-Sok
    INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2010), 2010, : 1895 - 1899
  • [29] Master-slave real-time control strategy in Cartesian space for a novel surgical robot for minimally invasive surgery
    Pan, Bo
    Qu, Xiaofeng
    Ai, Yue
    Fu, Yili
    Liu, Chang
    COMPUTER ASSISTED SURGERY, 2016, 21 : 70 - 78
  • [30] Analysis and control of master-slave systems with time delay
    Yoshikawa, T
    Ueda, J
    IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3, 1996, : 1366 - 1373
12345