DocumentCode
2551960
Title
Kinematic modeling of humanoid arm
Author
Daud, Wan Amirfaiz Bin Wan ; Faizura, W. ; Adly, M. Azmi ; Elamvazuthi, Irraivan ; Begam, Mumtaj
Author_Institution
Electr. & Electron. Eng. Dept., Univ. Teknol. Petronas, Bandar Seri Iskandar, Malaysia
fYear
2010
fDate
15-17 June 2010
Firstpage
1
Lastpage
4
Abstract
In recent years, development of humanoids, which are robots that assume an anthropomorphic form is a challenge that gaining interest in robotics. Kinematics is important in performing the simulation of a humanoid arm in order to perform desired task. In this work, the kinematic solution for humanoid arm is described. The kinematics of the humanoid arm is computed using the Denavit Hartenburg (DH) notations. The work is essential in order to determine the joint variables in terms of the end-effectors position and orientation.
Keywords
dexterous manipulators; end effectors; manipulator kinematics; Denavit Hartenburg notation; anthropomorphic form; end effectors position; humanoid arm kinematic modeling; robot kinematics; Elbow; Humans; Joints; Kinematics; Pneumatic systems; Robots; Shoulder;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent and Advanced Systems (ICIAS), 2010 International Conference on
Conference_Location
Kuala Lumpur, Malaysia
Print_ISBN
978-1-4244-6623-8
Type
conf
DOI
10.1109/ICIAS.2010.5716210
Filename
5716210
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