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Humanoid Humeral Pointing Kinematics

  • Jadran Lenarčič
  • Michael Stanišić
  • Eric Schearer
Chapter

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.

Keywords

Humanoid Shoulder Shoulder Girdle Parallel Mechanism 

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Copyright information

© Springer Science+Business Media Dordrecht 2002

Authors and Affiliations

  • Jadran Lenarčič
    • 1
  • Michael Stanišić
    • 2
  • Eric Schearer
    • 2
  1. 1.J Stefan InstituteUniversity of LjubljanaSlovenia
  2. 2.University of Notre DameNotre DameUSA

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