An Experimental Characterization of a 1-DOF Anthropomorphic Arm for Humanoid Robots
نویسندگان
چکیده
In this paper, we have reported results of the experimental tests for validating and characterizing a new design and its operation for a humanoid robot arm with one actuator only. The core of the arm system consists of clutches that are activated or deactivated according to a programmed manipulation path-planning. Experimental tests are discussed with measured results to characterize the functionality of the proposed clutch system for a robotic arm by looking at stationary and impulsive response of the clutch motion transmission. Key-Words: Humanoid Robots, Anthropomorphic Arm, Clutch Systems, Experimental Characterization
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