Kinematic design of a humanoid robot wrist

DOI10.1002/ROB.8113MaRDI QIDQ4331398zbMATH OpenOpenAlexFDO

Authors Christian Schäfer, Rüdiger Dillmann

Publication date 2001

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.8113

zbMATH Keywords

screw theoryproduct-of-exponentials method

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Biomechanics (92C10)

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• Stiffness analysis of biped humanoid robot WABIAN-RIV

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