Hydraulic And Linear Actuator Motor Operated 7 Dof Humanoid Robotic Arm .
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 14, Number 10, 2019 (Special Issue) Research India Publications. http://www.ripublication.comHYDRAULIC AND LINEAR ACTUATOR MOTOR OPERATED 7DOF HUMANOID ROBOTIC ARM WITH DEXTEROUS HANDDhruv kumarAssistant Professor, Department of Mechanical EngineeringJIMS Engineering Management Technical Campus, GGSIPU48/4, knowledge park III, Greater Noida, U.P, IndiaSurya Dev SinghUG Student, Department of Mechanical EngineeringJIMS Engineering Management Technical Campus, GGSIPU48/4, knowledge park III, Greater Noida, U.P, IndiaSandeepUG Student, Department of Mechanical EngineeringJIMS Engineering Management Technical Campus, GGSIPU48/4, knowledge park III, Greater Noida, U.P, IndiaSachin GuptaUG Student, Department of Mechanical EngineeringJIMS Engineering Management Technical Campus, GGSIPU48/4, knowledge park III, Greater Noida, U.P, IndiaAshutosh SinghAssistant Professor, Department of Mechanical EngineeringJIMS Engineering Management Technical Campus, GGSIPU48/4, knowledge park III, Greater Noida, U.P, IndiaAbstract— In this research paper, a new way and approach ondesign and fabrication of 7 axis humanoid robotic arm withdexterous hand (having 16 DOF) is proposed. A methodologyto construct a 7 axis (DOF) "HRA" chassis or skeleton chassiswith accurate and precise movement with compactconstruction at very low cost is presented. Hydraulic andlinear actuator motor is used to construct an artificial musclenetwork which is very much similar in function like‘McKibben' artificial muscle, a force generator which is apneumatic based air muscle. Hydraulic system actuated by"Linear actuator motor" is used as a mean to study and searchthe new possibility and a way to control the “HRA” which isvery much analogous to the working of actual human muscles.A commercially available microcontroller is used i.e."Arduino Uno" with shield and integrated developmentenvironment software will be used for controlling the HRA.Further our approach is to create a skeleton chassis with therobust, simple and compact design with some additionalfeature like mounting panels which can be removed easily foreasy maintenance and access to the inner component of HRAfor repair purpose.KEYWORDS- Humanoid robotic-arm, Dexterous hand,Arduino Uno, Artificial Muscles, skeleton chassis.I. nthropomorphic nature was started from the year 1990. Eversince a lot of research has been done in the field of ahumanoid robotic arm. A human body is a most sophisticatedmachine with so many complex mechanisms which enable usto do our day to day task and work. Due to the advancementof technology in the field of Mechatronics and Biomechanicalengineering, in the present era, it is possible to replicate thehuman arm using the knowledge of all the distinct disciplineof mechatronics that consists of mechanical, electrical,electronic, computer science and control engineering. Usingthe knowledge of all these disciplines an analogy can be madeto study and understand the anthropomorphic nature of humanarm in terms of engineering and technology to replicate it.Page 39 of 46
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 14, Number 10, 2019 (Special Issue) Research India Publications. http://www.ripublication.comA human brain is like a supercomputer which controls all thevoluntary and non-voluntary function of the body. A similaranalogy can be made using the computer science and controlengineering to control and study the motion of the humanoidarm. Whenever an individual wish to move a certain muscleof the body, electrical signals generates which transmit fromthe brain to the targeted muscle through nervous systems.These electrical signals actuate the muscle and thus musclemovement is possible. In biomechanical engineering, a termmotorized movement is used to describe the movement ofhuman muscle and its analogy can be made using electricaland electronic engineering to study and understandmyoelectric nature of muscle and same can be used tofabricate the artificial network or transmission line andartificial muscle [1] for a humanoid robotic arm. Similarly, theskeleton structure of human arm is very robust and flexible,which consist of several joints that enable 7 degrees offreedom for its movement and additional 21 DOF for handmovement. The human shoulder has 3 DOF which enable it tohave abduction-adduction, flexion-extension, and externalinternal rotation motion and movement. The elbow jointconsists of 1 DOF which enable the forearm to have flexionextension and wrist consist of 3 DOF that enables it to haveflexion-extension, supination and pronation and ulnardeviation and radial deviation movement. Using theknowledge of biomechanical and mechatronics engineering, itis possible to fabricate and design a skeleton chassis that willhave 7 DOF arm movement and a dexterous hand (with 16DOF) that can perform natural arm movement and gesturecontrol.Although a lot of development has been done in this field ofrobotics, but still it is not commercially successful andavailable in the market. a more advanced 7 axis industrialrobotic arms are commercially successful and used worldwidein manufacturing industries and are easily available in markethaving a variety of category to choose from according to theapplication and structure [13]. At present the demand andapplications of humanoid robotic arm/hand is very less due tothe fact that they are ineffective and cannot be used up to itsfull potential unless it is equipped in a full humanoid robotthat can do the task that a human being can perform with itsbody. These types of robots are very useful in an environmentwhich is very hazardous and dangerous to human life [2] [3],thus this type of robots has an advantage over industrialrobots. Research and development are still going on toimprove the control, flexibility, load carrying capacity, speed,accuracy, and quality of humanoid robotic arm so that it caninteract with humans and can work in a normal environmentas well, to provide assistance and support to humans that arephysically challenged and cannot perform normal day to daytasks. A recent development of artificial intelligence hasincreased the scope of development in the field of a humanoidrobotic arm. Many ideas and methods have been proposed forthe 1 DOF [6] 2 axes (Noritsugu, Tanaka and Yamanaha1996) 3 axis [14], 4 axes (Bridge Corporation 1987; packChristopher, kawamura 1997) 5 axis Bridge Stone corporationand Taicubo engineering 1993) [1], and 6 axes and 7 axeshumanoid robotic arm [7] [17]. In this research paper, wewould like to propose a new approach in designing andfabrication of humanoid robotic arm.In section [1], we have presented the methodology of designand fabrication of skeleton chassis with 7 DOF arm and adexterous hand. Section [2] elaborate the method to create anartificial muscles network architecture for actuation of all themotions and joints of 7 DOF skeleton chassis precisely whosekinematic and dynamic characteristics is based on currentlyavailable research [7]. A commercially availablemicrocontroller i.e. Arduino UNO with a shield (L293d) andintegrated development environment (IDE) software will beused to construct the control unit for a humanoid robotic arm.Figure 1: Seven degree of freedom of armFigure 2: Different section of Humanoid Robotic ArmII. DESIGN AND FABRICATIONThe methodology of design and fabrication of HRA isdiscussed in three sectionsPage 40 of 46
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 14, Number 10, 2019 (Special Issue) Research India Publications. http://www.ripublication.com1.2.3.Design of skeleton (in three sections).The layout of artificial muscle network.Control system for motion and movement control ofHRA.1. DESIGN OF SKELETON CHASSISDesign of skeleton chassis is divided into 5 segments namely.1.1 Dexterous hand (16 DOF).1.2 Forearm and wrist (2 DOF at the wrist).1.3 Elbow joint (having 2 DOF).1.4 Upper arm (having 1 DOF).1.5 Shoulder (having 2 DOF).section [2.3]. This design of forearm is quite simple whichwill consist of two end plate (wrist plate and elbow sideplate). A central rod that will connect both the plate will beused that will provide strength to the forearm. Further, steelwires will be used to form a cage-like structure or frame for aforearm, these steel wires will be connected from one endplate's outer periphery to another end plate periphery (elbowside plate). This wireframe will create outer surface of theforearm where the mounting clip will be attached forattachment of mounting panels to give it more aesthetic lookand easy access to the components of the forearm. Aschematic diagram is shown in the figure (4).1.1 DEXTEROUS HANDThe design of dexterous hand is very much similar and afollow up of [5], there are other alternative methods forconstructing dexterous hand with new bending mechanism [4][18]. But in our approach, we will add closed helical springover the fingers to control tension force and if possible, springadjuster will also be used to vary the tension force as per therequirement. Further, steel wires/cables will be used as alinkage for assisting the push-pull motion that will be actuatedby linear actuator motor and to transmit force through thehydraulic system instead of using servo motor directly [5]. 5hydraulic cylinders will be used and placed in the palm towhich the steel wires will be attached and 1 additionalcylinder will be placed for thumb's abduction-adductionmovement. This hydraulic network with steel wire and springcombination will smooth out the motion and movement of thedexterous hand and will reduce the possible jerks that willoccur during operation. A schematic diagram is given infigure :( 3)Figure 4: Fore-arm section Figure 5: Wrist section layoutFor wrist flexion-extension motion and ulnar deviation –radialdeviation motion, a hoop joint will be used to replicate thismovement of the wrist that will have 2 DOF. And it willconnect the forearm's central rod and dexterous hand. 4 pushpull rods will be used as a linkage, directly attached torespective LAM that will motorized the wristmotion\movement and transmit force. Further, spring adjusterwill be used and will be placed on the rod that will reducejerky movement and smooth out the operation. To simplifythe design of wrist, it s supination and pronation movementwill be added to lower section of elbow. Working layout ofthis is discussed in section [2.2] A schematic diagram of wristis given in figure: (5).1.3 ELBOW JOINT (HAVING 2 DOF)Elbow joint of human has 1 DOF that allows it to haveflexion-extension movement.Figure 3: Sectional view of hand1.2 FOREARM & WRISTThe forearm here will provide housing for 6 hydrauliccylinders and 10 LAM, a layout of which is discussed inA knuckle joint will be the most suitable joint to replicate theflexion-extension of Elbow joint. Moreover, we are addingsupination-pronation movement of wrist to elbow that willprovide one additional DOF to elbow section. A DC servomotor will be used that will be placed at the lower section ofthe elbow which will attach to the forearm through the lowersection of an elbow. A schematic diagram is given in thePage 41 of 46
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 14, Number 10, 2019 (Special Issue) Research India Publications. http://www.ripublication.comfigure (6) and its functional and operational working layout isdiscussed in the section [2.4].[2.4], where the lifting mechanisms and flexion-extensionmechanisms of the shoulder is discussed. A schematicdiagram is given in figure (7).Figure 7: Sectional view of shoulder2. ARTIFICIAL MUSCLE NETWORKFigure 6: Sectional view of elbow1.4 UPPER ARM (HAVING 1 DOF)The upper arm of human usually has 1 DOF that allow it tohave external – internal movement but the shoulder musclesand joints are involved for actuating and causing this motionthus this DOF is a part of the shoulder in general. But in ourdesign, we will place this movement in the upper arm toreduce the complexity of shoulder since it is the most complexpart of the human arm. A similar mechanism that we are usingfor elbow s supination-pronation motion will be used for theexternal – internal movement of the upper arm. Anothercentral rod will be used that will connect the upper section ofelbow to upper arm. A DC servo motor will be used forreplicating and motorizing the external – internal movementof the upper arm. And a similar cage-like frame that is usedfor forearm will be used for constructing upper arm where themounting panel will be attached to give HRA a more humanarm like look and structure.1.5 SHOULDER (HAVING 2 DOF)The shoulder is the most complicated part of the human arm[17]. A lot of research has been done for the analysis ofshoulder characteristics [10] based on this analysis we aredesigning a shoulder with 2 DOF that will replicate theflexion-extension movement and abduction and adductionmovement of shoulder. For the abduction-adductionmovement a knuckle joint will be used whose one side will beattached to the shoulder and the other side will be attached tothe circular disk platform where the upper arm will beconnected. The circular disk platform will provide the flexionand extension motion and movement to the whole arm. A DCservo motor will be used to replicate the angular motion of thearm. The working and operational layout is given in sectionArtificial muscle is a term that arises from the Mckibbenartificial muscle or air muscle [1]. It is an air powered, a forcegenerator, whose structure and function of extension andcontraction that resembles the actual human muscle. Thescope of this air muscle is very large in the field of humanoidrobotic arm and the whole humanoid robot as well. But thefact that the design and fabrication of material and structure ofthis air muscle are quite complex and impossible for currentmaterial fabrication technology. Moreover, it has a verylimited pressure range up to which it can perform the functionwithout any failure. In our approach, we are using a DC servomotors and linear actuator motors as actuating sensor andhydraulic system to replicate a human muscle network of thewhole arm, which will perform the exact and precise motionand movement just like human muscle thus the term artificialmuscle network is given [8] [11]. In the following section, thelayout and functioning of this artificial muscle network arediscussed.2.1 ARTIFICIAL MUSCLE NETWORK OFHANDAs discussed before, the hand or palm will have 6 hydrauliccylinders, 4 cylinders for 4 fingers & 2 cylinders for a thumb.One side of the cylinder will have a push-pull rod that will beconnected to the steel wire which in turn will be attached tothe finger joint & act as a linkage to transmit actuating forceto fingers. The other side of cylinders will have tubes attachedto them and the other end of the tube will be attached toanother 6 hydraulic cylinders placed in the forearm section.Another side of these 6 particular cylinders will also have apush-pull rod that will be attached to the linear actuator motorthat will motorize linear push & pull motion and will actuate& control the fingers, thumb motion/ movement. Further, it isPage 42 of 46
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 14, Number 10, 2019 (Special Issue) Research India Publications. http://www.ripublication.comto be noted that mechanical tuning, timing adjustment,accuracy & positioning are required to precisely replicate thefingers motion with precise angles. This depends on the size,shape, dimension of structure & linear actuator motor & lineardisplacement, torque, load capacity & positioning of linearactuator motor that will be done in our further research &studies (after constructing an actual working model) theelectrical wiring of these 6 particular linear actuator motorwill be laid & pass from forearm section to elbow sectionfrom elbow to upper arm section and then to shoulder sectionat last and will be connected to Arduino board, placed incontrol unit box (CUB).2.2 WRIST (AMN)As discussed before, the wrist section is comprised of aknuckle joint which connects both the hand & forearm & 4push-pull rods with spring adjuster which will be attached to 4LAM respectively placed in forearm section. Due to spacelimitation in wrist section no hydraulic cylinders will beplaced in this section of arm. Since, these 4 linear actuatormotors will be sufficient to cope up with the load requirementfor the wrist. For replicating the flexion-extension motion ofwrist two linear actuator motor will be placed opposite to eachother on the back & front side of the forearm that will actuatesimultaneously in opposite direction. This motion is verymuch similar to the human wrist muscle motion/movementwhere simultaneously one muscle contracts while the otherextents & vice-versa.Similarly, two other linear actuators will be placed at theopposite sides of wrist that will perform the ulnar deviation –radial deviation motion & movement of the wrist. TheArduino board will control the actuation timing & lineardisplacement of linear actuator motor.2.3 EXTERNAL-INTERNAL MOTION OFFOREARM & UPPER ARMA forearm has an angular rotation motion which is termed assupination-pronation movement and motion. A DC servomotor will be used & placed in the lower section of elbow, acommon central rod that runs throughout the forearm will beattached & held by two bearing journals placed at the twosides of lower elbow section. A part of a central rod in lowerelbow section will have a spur gear, so will the motor place inlower elbow section. Through these gear meshing, the powerwill be transmitted from motor to the central rod and to theforearm to provide angular rotation up to certain range &limit. The required angular rotation of the motor will becontrolled by the Arduino board. A similar mechanism will beused for the upper arm as well where another central rod thatwill connect the upper section of elbows and upper arms. Amotor that will be placed in the upper arm will have similarcontrol, functional & operating method as discussed for theforearm to replicate the angular rotation motion of upper arm.A schematic diagram is given in the fig. (8)Figure 8: Sectional view of fore-arm2.4 FLEXION –EXTENSION MOTION OFELBOW AND ABDUCTION – ADDUCTIONMOTION OF SHOULDERThe elbow of the humanoid robotic arm will be comprised ofknuckle joint that will connect both lower and upper sectionof the elbow and replicate the flexion-extension motion andmovement of the human elbow [16]. Two linear actuatormotor will be placed in the upper section of the elbow in thesame position where the bicep and triceps are located in thehuman arm. A rotor disc will be attached to a part of knucklejoint that will connect the lower elbow section. A linkagemechanism shown in fig (9) will be used to connect the rotordisc and the push-pull rod of the linear actuator motor. Whenactuated simultaneously the two linear actuators will move inopposite direction based on their initial position and will movethe forearm section up and down to create flexion-extensionmotion. This type of movement is quite analogous to the bicepand triceps muscle movement to move arm and thus thismechanism is the most suitable for elbow flexion-extensionmovement. A similar mechanism will be used for shoulderabduction-adduction movement whose characteristic will bebased on currently available research [10] [16] [17] but theangulation will be quite different. Since the shoulder takes upa great amount of load therefore 3 linear actuator motorinstead 2 will be used. In addition to that hydraulic cylinderand system will also be used for force amplification, in casethe linear actuator motor mightn't be able to take up the loadcapacity of shoulder alone. A schematic diagram of shouldermechanism is shown in fig (10)Page 43 of 46
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 14, Number 10, 2019 (Special Issue) Research India Publications. http://www.ripublication.com3. CONTROL UNIT BOARD (CUB)For control system we will use commercially availableArduino UNO board which will act as a brain for thehumanoid robotic arm [12]. In this particular case, 15 linearactuator motors and 3 dc servo motors will be used in total.Figure 9: Flexion-Extension Mechanism of Fore-armFigure 2Table 1Figure 10: Shoulder MechanismFor the flexion-extension movement of shoulder a disk-typeplatform where the upper arm central rod will be connected toit for the angular rotation. This disk will be attached to theshoulders knuckle joint that will lift the disk platform alongwith the whole arm a DC servo motor will be placed in thedisk platform, two bevel gears will be used, where one will bemounted on upper arm central rod end & the other will beattached to the motor to transmit motion and force at 90.Alternatively, two spur gears may also be used instead ofbevel gears by changing the position of the motor in diskplatform. But in this case, a spur gear has to be mounted onanother short shaft (spindle) whose axis will be perpendicularto the axis of upper arm central rod.4 LAM4 Fingers2 LAMThumb4 LAMWrist1DC Servo MotorElbow Rotation2 LAMElbows Joint1 DC Servo MotorUpper Arm Rotation1 DC Servo MotorShoulder Rotation3 LAMShoulder LiftArduino Uno is a very versatile, easy to use and commerciallysuccessful microcontroller board.Its input & output power supply is limited to only 5v which issufficient enough to power LEDs & other small sensors butPage 44 of 46
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 14, Number 10, 2019 (Special Issue) Research India Publications. http://www.ripublication.comnot sufficient enough to power DC motor which requires morethan 5v, beyond that and it might burn its component. Anotherlimitation is that it has only 14 digital input pins which are notsufficient, to run 18 motors simultaneously.To overcome this problem, a motor driver known as a shield(L298d or L293) will be used to drive motors. Even afterusing the shield or motor driver, only 2 motors can possiblybe attached to a single shield and only 3 Shield can connect toArduino Uno and thus 6 motors can be run by a singleArduino board. Therefore, 3 Arduino boards with 9 shieldswill be used for controlling the humanoid robotic arm.A Schematic diagram of the layout is given in fig. (11). Asshown in figure Arduino board A1, which will have 3 shieldA1D1, A1D2 & A1 D3 to control 6 DC motors (or LAM), forhand namely F1, F2, F3, F4, and T1& T2. Board A2, will alsohave 3 shields that will control motor W1, W2, W3, W4 forwrist, and bicep & triceps motor (or LAM) for elbow jointmovement. Shoulders motor S1, S2, S3 will be controlled &connected to board A3 & elbow section motor R1, upper armmotor R2 & shoulder section motor R3 will be connected toboard A3 as well. Using the Arduino IDE software in windowOS, all 3 Arduino will be controlled simultaneously to operatethe humanoid robotic arm and control its motion &movement.III. CONCLUSIONIn this paper, we have successfully elaborated our approach ofdesigning and fabrication of humanoid robotic arm with 7DOF and a dexterous hand based on the currently availableresearch and studies done in this field and general electronics.Further, we have discussed the constructional and structurallayout with function and operation methodology which willact as a foundation for our research work for developing andmodelling of a robotic arm in the near future. This researchwork has also shown the possibility of using a combination ofthe hydraulic system for force amplification and the linearactuator motor for actuating and controlling the motion ofseveral joints in a humanoid robotic arm.In future research, we can use valve and valve automationtechnology to reduce the number of hydraulic cylinders andlinear actuator motors to increase the flexibility, control andspeed etc. and to reduce the weight, complexity, and numberof the component to increase the overall performance of thehumanoid robotic arm. We can also use new sensors forsensing surface orientation as well [9]. This type ofarchitecture of HRA will show new possibilities indevelopment of giant robots larger than the normal humansize.References[1] B. Tondu., S. Ippolito., J. Guiochet., “A Sevendegrees-of freedom Robot-arm Driven by PneumaticArtificial Muscles for Humanoid Robots”, InstitutNational de Sciences Appliquées, Campus deRangueil 31077 Toulouse, France.[2] Golap Kanti Dey, Palash Kanti Dey, MohammadHasan Ul Islam, “Humanoid Robotic Arm forTactual Interaction with Industrial Environment byusing Mobile”, International Journal of Engineeringand Technology, Volume 4 No. 11, November, 201[3] Ashraf Elfasakhany, Eduardo Yanez, Karen Baylon,Ricardo Salgado, “Design and Development of aCompetitive Low-Cost Robot Arm with FourDegrees of Freedom”, Modern MechanicalEngineering, 2011, 1, 47-55.[4] Chiharu Ishii, Tomoyuki Futatsugi, “Design andControl of a Robotic Forceps Manipulator withScrew-Drive Bending Mechanism and Extension ofIts Motion Space”, Procedia CIRP 5 (2013) 104 –109.[5] Le Bang Duc, Mohd Syaifuddin, Troung Toai, NgoHuy Tan, Mohd Naufal Saad, Lee Chan Wai,“Designing 8 Degrees of Freedom HumanoidRobotic Arm”, International Conference onIntelligent and Advanced System 2007.[6] Hao GU and Marco Ceccarelli, “Simulation ofCombined Motions for an I-DOF Clutched RoboticArm”, International Conference on Mechatronics andAutomation August 9 - 12, Changchun, China.[7] Tie-jun ZHAO, Jing YUAN, Ming-yang ZHAO, Dalong TAN, “Research on the Kinematics andDynamics of a 7-DOF Arm of Humanoid Robot”,International Conference on Robotics andBiomimetics December 17 - 20, 2006, Kunming,China.[8] Ana Riza F. Quiros, Alexander C. Abad, Elmer P.Dadios, “Object Locator and Collector Robotic ArmUsing Artificial Neural Networks”, The Institute ofElectrical and Electronics Engineers Inc. (IEEE) Philippine Section 9-12 December 2015 Water FrontHotel, Cebu, Philippines.[9] Lukas Kaul, Simon Ottenhaus, Pascal Weiner andTamim Asfour, “The Sense of Surface Orientation -Page 45 of 46
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 14, Number 10, 2019 (Special Issue) Research India Publications. http://www.ripublication.comA New Sensor Modality for Humanoid Robots, 2016IEEE-RAS Cancun, Mexico, Nov 15-17, 2016.[10] Byoung-Ho Kim, “Torque Characteristic of Shoulderand Elbow Joints of Assistive Robotic ArmsHandling an Object”, 2016 IEEE RAS/EMBS June26-29, 2016. U Town Singapore.[21] Jadran LenarCiC, Michael M. StaniSiC, VincenzoParenti-Castell, “Kinematic design of a humanoidrobotic shoulder complex”, International Conferenceon Robotics & Automation San Francisco, CA April2000.[11] Mircea Hulea, Constantin Florin Caruntu, “Spikingneural network for controlling the artificial.[12] Chung-Hsien Kuo, Yu-Wei Lai, Kuo-Wei Chiu,Shih-Tseng Lee, “Motion Planning and Control ofInteractive Humanoid Robotic Arms”, IEEE Taipei,Taiwan, Aug. 23-25, 2008.[13] Jingguo Wang and Yangmin Li, “A Survey on theStructures of Current Mobile Humanoid Robots”,University of Macau, Av. Padre Tom as Pereira,Taipa, Macao, China.[14] Xiaoxu Gu, Kun Wang, Tianyu Cheng and XiuliZhang, “Mechanical Design of a 3-DOF HumanoidSoft Arm Based on Modularized Series ElasticActuator”, International conference on Mechatronicsand Automation, August 2-5, Beijing, China.[15] Zeeshan Shareef and Jochen Steil, “TrajectoryOptimization of COmpliant HuMANoid (COMAN)Robot Arm using Path Parameter based DynamicProgramming”, 2016 IEEE-RAS Cancun, Mexico,Nov 15-17, 2016.[16] Byoung-Ho Kim, “Tension Analysis of DrivingMechanism of Robotic Elbow”, 2017 2ndInternational Conference on Advanced Robotics andMechatronics (ICARM).[17] Tiejun Zhao, “Design of a Redundant Arm for YirenHumanoid Robot”, International Conference onIntelligent Control and Information ProcessingAugust 13-15, 2010 - Dalian, China.[18] Chiharu Ishii, Yosuke Nishitani, Hiroshi Hashimoto,“Robotic Hand with a New Bending Mechanism”,2009 IEEE August 9 - 12, Changchun, China.[19] N. Klopcar and J. Lenarcic, “BiomechanicalConsiderations on the Design of a HumanoidShoulder Girdle”, 2001 IEEVASME 8-12 July 2001Como, Italy.[20] K. Ohnishi, T. Tajima, Y Saito, “Anthropomorphichand control for robotic hand-arm system”.Page 46 of 46
KEYWORDS- Humanoid robotic-arm, Dexterous hand, Arduino Uno, Artificial Muscles, skeleton chassis. I. INTRODUCTION . Development of humanoid robotic arm having anthropomorphic nature was started from the year 1990. Ever since a lot of research has been done in the field of a humanoid robotic arm. A human body is a most sophisticated
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