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Type of Document	Dissertation
Author	Goehler, Craig Matthew
Author's Email Address	cgoehler@alumni.nd.edu
URN	etd-07102007-103645
Title	Design of a Humanoid Shoulder-Elbow Complex
Degree	Doctor of Philosophy
Department	Aerospace and Mechanical Engineering
Advisory Committee	Advisor Name Title Don A. Howard Committee Chair Alan Bowling Committee Member Michael M. Stanisic Committee Member Robert Howland Committee Member Steven B. Skaar Committee Member
Keywords	method of successive iterations inverse kinematics solution shoulder girdle human motion studies shoulder-elbow coupling humanoid robotics
Date of Defense	2007-06-28
Availability	unrestricted
Abstract A new challenge in robotics is the development of humanoids, which are robots that assume an anthropomorphic form. A difficulty with humanoid design is the kinematic interpretation of human joints and the development of mechanisms that can mimic human motion. The focus of this work is the development of a kinematic description of the shoulder-elbow complex. The coupling that exists between the shoulder movement and the orientation of the elbow joint is quantified. A mechanism capable of reproducing this coupling is introduced along with the procedural method utilized to determine the variables needed to enforce the couplings that exist within the human shoulder-elbow complex. Experimental results are presented highlighting the accuracy of this mechanism along with the similarities to human configurations.
Files	Filename       Size       Approximate Download Time (Hours:Minutes:Seconds)     28.8 Modem   56K Modem   ISDN (64 Kb)   ISDN (128 Kb)   Higher-speed Access    GoehlerCM072007.pdf 4.91 Mb 00:22:44 00:11:41 00:10:13 00:05:06 00:00:26