Motion planning and control of interactive humanoid robotic arms

  title={Motion planning and control of interactive humanoid robotic arms},
  author={Chung-Hsien Kuo and Yu-Wei Lai and Kuo-Wei Chiu and Shih-Tseng Lee},
  journal={2008 IEEE Workshop on Advanced robotics and Its Social Impacts},
Humanoid robots are widely discussed in recent years. The motion planning and control of humanoid robots can be discussed based on mobility of platforms and manipulations of arms. In this paper, we propose a robotic arm which manipulation is analog to the motion of humanpsilas upper extremities. The proposed robotic arm is designed as a seven degree-of-freedom configuration. To increase the interactivity with humans, a six-axis force sensor is attached on the wrist of the robot to capture the… CONTINUE READING