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
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