Analysis of flexibility in humanoid robot structure design to attain human-like motions / Hanafiah Yussof … [et al.]

Yussof, Hanafiah (2009) Analysis of flexibility in humanoid robot structure design to attain human-like motions / Hanafiah Yussof … [et al.]. Journal of Mechanical Engineering (JMechE), 6 (2). pp. 1-25. ISSN 1823-5514 ; 2550-164X

Abstract

This paper presents analyses of flexibility in humanoid robot structure design focusing on design parameters of degree of freedoms and joint angle range characteristic to identify elements that provide flexibility for humanoid robots to attain human-like motion. Description and correlation of physical structure flexibility between human and humanoid robot to perform motion is presented to clarify the elements. This analysis utilized the joint structure design, configuration of degree of freedoms and joint rotation range of a 21-dof humanoid robot Bonten-Maru II. Experiments utilizing this robot were conducted, with results indicates effective design parameters to attain flexibility in human-like motion.

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Item Type: Article
Creators:
Creators
Email / ID Num.
Yussof, Hanafiah
UNSPECIFIED
Divisions: Universiti Teknologi MARA, Shah Alam > Faculty of Mechanical Engineering
Journal or Publication Title: Journal of Mechanical Engineering (JMechE)
UiTM Journal Collections: UiTM Journal > Journal of Mechanical Engineering (JMechE)
ISSN: 1823-5514 ; 2550-164X
Volume: 6
Number: 2
Page Range: pp. 1-25
Keywords: Humanoid robot, flexibility, joint structure design, human-like motions, degree of freedoms
Date: 2009
URI: https://ir.uitm.edu.my/id/eprint/17631
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