Title

Humanoid Humeral Pointing Kinematics

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.

DOI

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