CONTENTS
6.1 Introduction .................................................................................................. 106
6.2 Low-Motion–Noise Robotic Head/Neck System ................................... 107
6.2.1 System Overview............................................................................. 107
6.2.2 Hardware Development ................................................................. 108
6.2.3 Programming Head Movements ................................................... 111
6.3 Inverse Kinematics and Statics Analysis .................................................. 111
6.3.1 Neck Mechanism ............................................................................. 111
6.3.2 Cable and Housing.......................................................................... 114
6.4 Control Strategy ........................................................................................... 116
6.4.1 Rigidity Maintenance...................................................................... 116
6.4.2 Motion Control ................................................................................. 117
6.5 Implementation ............................................................................................ 118
6.5.1 Experimental Setup and Motion Control of the Robotic Neck . 118
6.5.2 Motion Noise Test ............................................................................ 118
6.6 Summary ....................................................................................................... 120
Acknowledgment................................................................................................ 120
References ............................................................................................................. 123
6
Development of a Low-Noise
Bio-Inspired Humanoid Robot Neck
Bingtuan Gao
Southeast University
Nanjing, China
and
Michigan State University
East Lansing, Michigan
Ning Xi, Jianguo Zhao, and Jing Xu
Michigan State University
East Lansing, Michigan
Abstract
105
6.1 Introduction .................................................................................................. 106
6.2 Low-Motion–Noise Robotic Head/Neck System ................................... 107
6.2.1 System Overview............................................................................. 107
6.2.2 Hardware Development ................................................................. 108
6.2.3 Programming Head Movements ................................................... 111
6.3 Inverse Kinematics and Statics Analysis .................................................. 111
6.3.1 Neck Mechanism ............................................................................. 111
6.3.2 Cable and Housing.......................................................................... 114
6.4 Control Strategy ........................................................................................... 116
6.4.1 Rigidity Maintenance...................................................................... 116
6.4.2 Motion Control ................................................................................. 117
6.5 Implementation ............................................................................................ 118
6.5.1 Experimental Setup and Motion Control of the Robotic Neck . 118
6.5.2 Motion Noise Test ............................................................................ 118
6.6 Summary ....................................................................................................... 120
Acknowledgment................................................................................................ 120
References ............................................................................................................. 123
6
Development of a Low-Noise
Bio-Inspired Humanoid Robot Neck
Bingtuan Gao
Southeast University
Nanjing, China
and
Michigan State University
East Lansing, Michigan
Ning Xi, Jianguo Zhao, and Jing Xu
Michigan State University
East Lansing, Michigan
Abstract
105