Biologically Inspired Robotics

6

 

 

Development of a Low-Noise Bio-Inspired Humanoid Robot Neck

 

Bingtuan Gao

Southeast University Nanjing, China and

Michigan State University East Lansing, Michigan

Ning Xi, Jianguo Zhao, and Jing Xu

Michigan State University East Lansing, Michigan

CONTENTS

6.1 Introduction

6.2 Low-Motion-Noise Robotic Head/Neck System

6.2.1 System Overview

6.2.2 Hardware Development

6.2.3 Programming Head Movements

6.3 Inverse Kinematics and Statics Analysis

6.3.1 Neck Mechanism

6.3.2 Cable and Housingnoindentc

6.4 Control Strategy

6.4.1 Rigidity Maintenance

6.4.2 Motion Control

6.5 Implementation

6.5.1 Experimental Setup and Motion Control of the Robotic Neck

6.5.2 Motion Noise Test

6.6 Summary

Acknowledgment

References

Abstract

A humanoid neck system ...