TY - GEN
T1 - KEYBOARD PLAYING BY AN ANTHROPOMORPHIC ROBOT
T2 - FINGERS AND ARM MODEL AND ITS CONTROL SYSTEM OF WAM-7R.
AU - Sugano, S.
AU - Nakagawa, J.
AU - Tanaka, Y.
AU - Kato, I.
PY - 1985/12/1
Y1 - 1985/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0022242009&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0022242009&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0022242009
SN - 0262132087
SP - 153
EP - 161
BT - Unknown Host Publication Title
A2 - Morecki, Adam
A2 - Bianchi, Giovanni
A2 - Kedzior, K.
PB - MIT Press
ER -