Kinematic design of a humanoid robot wrist

DOI10.1002/ROB.8113zbMATH Open1082.70502OpenAlexW2130325864MaRDI QIDQ4331398FDOQ4331398

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

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zbMATH Keywords

screw theoryproduct-of-exponentials method

Mathematics Subject Classification ID

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

Cited In (7)

• A 1-dof parallel spherical wrist for the modelling of the knee passive motion
• A dexterous humanoid shoulder mechanism
• Robot arm-wrist coordination. Part 1. Quantitative rating
• Robot arm-wrist coordination. Part 2. Design guidelines
• Human-sized anthropomorphic robot hand with detachable mechanism at the wrist
• Human Versus Robotic Shoulder Motion
• Stiffness analysis of biped humanoid robot WABIAN-RIV

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