Design of a Humanoid Shoulder-Elbow Complex

Doctoral Dissertation

Abstract

A new challenge in robotics is the development of humanoids, which are robots that assume an anthropomorphic form. A difficulty with humanoid design is the kinematic interpretation of human joints and the development of mechanisms that can mimic human motion. The focus of this work is the development of a kinematic description of the shoulder-elbow complex. The coupling that exists between the shoulder movement and the orientation of the elbow joint is quantified. A mechanism capable of reproducing this coupling is introduced along with the procedural method utilized to determine the variables needed to enforce the couplings that exist within the human shoulder-elbow complex. Experimental results are presented highlighting the accuracy of this mechanism along with the similarities to human configurations.

Attributes

Attribute NameValues
URN
  • etd-07102007-103645

Author Craig Matthew Goehler
Advisor Don A. Howard
Contributor Robert Howland, Committee Member
Contributor Don A. Howard, Committee Chair
Contributor Alan Bowling, Committee Member
Contributor Michael M. Stanisic, Committee Member
Contributor Steven B. Skaar, Committee Member
Degree Level Doctoral Dissertation
Degree Discipline Aerospace and Mechanical Engineering
Degree Name PhD
Defense Date
  • 2007-06-28

Submission Date 2007-07-10
Country
  • United States of America

Subject
  • method of successive iterations

  • inverse kinematics solution

  • human motion studies

  • shoulder-elbow coupling

  • humanoid robotics

  • shoulder girdle

Publisher
  • University of Notre Dame

Language
  • English

Record Visibility Public
Content License
  • All rights reserved

Departments and Units

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