Implementation of Humanoid Robot Arm Based on SERCOS Network

Yongseon Moon; Nak Yong Ko; Dong Jin Seo; Eunju Kim; Youngchul Bae

doi:10.20965/jaciii.2008.p0503

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JACIII Vol.12 No.6 pp. 503-508

doi: 10.20965/jaciii.2008.p0503

(2008)

Paper:

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Implementation of Humanoid Robot Arm Based on SERCOS Network

Yongseon Moon^, Nak Yong Ko^, Dong Jin Seo^, Eunju Kim^, and Youngchul Bae^*

^*School of Information Communication, Sunchon Nat'l Univ., Suncheon 540-742, Korea
Email: moon@sunchon.ac.kr

^** College of Electronics and Information Eng., Chosun Univ., Gwangju 501-759, Korea
Email: nyko@chosun.ac.kr

^*** Redone Technologies Ssangchon-Dong Seo-Gu Gwangju, Korea
Email: commidi@gmail.com

^****Korea Institute Science of Technology Information 335 Gwahangno, Yuseong-gu, Daejeon, Korea
Email: ejkim@kisti.re.kr

^***** School of Electrical Electronic Communication and Computer Eng.
Chonnam Nat'l University San 96-1 Dundeok-dong Yeosu-si, Chonnam 550-749, Korea
Email: ycbae@chonnam.ac.kr(Corresponding Author)

Received:

June 12, 2008

Accepted:

August 25, 2008

Published:

November 20, 2008

Keywords:

humanoid robot, SERCOS communication, single joint robot design

Abstract

Designing, implementing and evaluating the performance of a humanoid robot arm, we verified its applicability and effectiveness based on the Serial Real-Time Communication System (SERCOS), which follows the concept of modularization corresponding to projected research. We also proposed single joint design modular for humanoid robot arm systems.

Cite this article as:

Y. Moon, N. Ko, D. Seo, E. Kim, and Y. Bae, “Implementation of Humanoid Robot Arm Based on SERCOS Network,” J. Adv. Comput. Intell. Intell. Inform., Vol.12 No.6, pp. 503-508, 2008.

Data files:

References

[1]
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H. Netter MD, “Atlas of Human Anatomy, Professional edition,” W.B Saunders, 2006.
Function blocks for motion control, “PLCopen-Technical Committee2,” 2002.
Yongseon Moon, Kwang Seok Lee, Cheol-Ho Yun, Tae-Uk Jung Nak Yong Ko, and Youngchul Bae, “The Design of humanoid Robot Arm based on Morphological and Neurological Analysis of Human Arm,” Proc. of the 2007 IEEE Int. Conf. on Mechatronics and Automation, August 5-8, 2007, Harbin, China.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1]
Karl Williams, “Build Your Own humanoid Robots,” Tab Books, 2004.
Christopher E. Strangio, “The RS232 Standard - A Tutorial with Signal Names and Definitions,“ 1993-2006.
“Universal Serial Bus Specification,” Compaq, Intel, Microsof, NEC, 1998. Robot Bosch Gmbh, “CAN Specification v2.0,” Bosch, 1991.
John F. Shoch, “An Introduction to the Ethernet Specification,” ACM SIGCOMM Computer Communication Review Vol.11, pp. 17-19, New York, USA, 1981.
ISO TC 184/SC 5, “ISO 156745 - Industrial automation system and integration Part1,” 1999.
David G. Amaral, “Anatomical organization of the central,” M. King, B. Zhu, and S. Tang, “Optimal path planning,” Mobile Robots, Vol.8, No.2, pp. 520-531, March 2001.
Rainer Bischoff and Volker Graefe, “HREMES-a Versatile Personal Robotic Assistant,” IEEE- Special Issue on Huamn Interactive Robots for Psychological Enrichment, pp. 1759-1779, Bundeswehr University Munich, Germany.
In A. Zelinsky, “Design Concept and Realization of the humanoid Service Robot HERMES,” Field and Service Robotics, ondon, 1998.
Rainer Bischoff, “HERMES-A humanoid Mobile Manipulator for Service Task,” Int. Conf. on field and Service Robots, Canberra, December 1997.
Rainer Bischoff, “Advances in the Development of the humanoid Service Robot HERMES,” Second Int. Conf. on field and Service robotics, 1999.
H. Netter MD, “Atlas of Human Anatomy, Professional edition,” W.B Saunders, 2006.
Function blocks for motion control, “PLCopen-Technical Committee2,” 2002.
Yongseon Moon, Kwang Seok Lee, Cheol-Ho Yun, Tae-Uk Jung Nak Yong Ko, and Youngchul Bae, “The Design of humanoid Robot Arm based on Morphological and Neurological Analysis of Human Arm,” Proc. of the 2007 IEEE Int. Conf. on Mechatronics and Automation, August 5-8, 2007, Harbin, China.

Implementation of Humanoid Robot Arm Based on SERCOS Network

Yongseon Moon*, Nak Yong Ko**, Dong Jin Seo***, Eunju Kim****, and Youngchul Bae*****

Yongseon Moon^, Nak Yong Ko^, Dong Jin Seo^, Eunju Kim^, and Youngchul Bae^*