| Title |
Masterarm ^+ Development for Teleoperation of a Humanoid Robot |
| Authors |
김윤상 ; 이장욱 ; 이수용 ; 김문상 ; 이종원 |
| Keywords |
matrerarm ; teleoperation ; human kinematics ; distributed controller architecture ; humanoid robot |
| Abstract |
In this paper, a masterarm for teleoperation of humanoid robot is presented. This masterarm is based human kinematics, which not only mimics human posture/motion completely, but also has wider work range. In addition, by using the distributed controller architecture and electric brake for force reflection, small size and lightweight of the device can be achieved. Some size and lightweight of the device can be achieved. Some important experiments integrated with the humanoid robot, CENTAUR developed by KIST(Korea Institute of Science and Technology), are conducted to evaluate the performance of the proposed masterarm. |