Humanoid Humeral Pointing Kinematics

Authors

Jadran Lenarčič, University of LjubljanaFollow
Michael Stanišić, University of Notre DameFollow
Eric M. Schearer, Cleveland State UniversityFollow

Document Type

Contribution to Books

Publication Date

2002

Publication Title

Advances in Robot Kinematics: Theory and Applications

Abstract

Humanoid humeral pointing kinematics is implemented in a humanoid robotic shoulder complex consisting of a parallel mechanism as the innermost shoulder girdle and a serial mechanism as the outermost spherical glenohumeral joint. These subsystems operate cooperatively as an offset double pointing system. The humanoid humeral pointing kinematics are also implemented within a passive humanoid shoulder complex.

Recommended Citation

Lenarčič, J., Stanišić, M. M. and Schearer, E. M., "Humanoid humeral pointing kinematics," in Advances in Robot Kinetics, J. Lenarčič and F. Thomas, Eds. Springer Netherlands, 2002, pp. 79-88.

DOI

10.1007/978-94-017-0657-5_9