Intelligent Service Robotics

, Volume 10, Issue 2, pp 137–148 | Cite as

Design of an anthropomorphic dual-arm robot with biologically inspired 8-DOF arms

  • Dong-Hyuk Lee
  • Hyeonjun Park
  • Jae-Han Park
  • Moon-Hong Baeg
  • Ji-Hun BaeEmail author
Original Research Paper


From the perspective of kinematics, dual-arm manipulation in robots differs from single-arm manipulation in that it requires high dexterity in a specific region of the manipulator’s workspace. This feature has motivated research on the specialized design of manipulators for dual-arm robots. These recently introduced robots often utilize a shoulder structure with a tilted angle of some magnitude. The tilted shoulder yields better kinematic performance for dual-arm manipulation, such as a wider common workspace for each arm. However, this method tends to reduce total workspace volume, which results in lower kinematic performance for single-arm tasks in the outer region of the workspace. To overcome this trade-off, the authors of this study propose a design for a dual-arm robot with a biologically inspired four degree-of-freedom shoulder mechanism. This study analyzes the kinematic performance of the proposed design and compares it with that of a conventional dual-arm robot from the perspective of workspace and single-/dual-arm manipulability. The comparative analysis revealed that the proposed structure can significantly enhance single- and dual-arm kinematic performance in comparison with conventional dual-arm structures. This superior kinematic performance was verified through experiments, which showed that the proposed method required shorter settling time and trajectory-following performance than the conventional dual-arm robot.


Bimanual manipulation Dual-arm manipulation Dexterous manipulation Redundant manipulator 



This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (2016R1A6A3A04012911).

Supplementary material

Supplementary material 1 (mp4 18429 KB)

Supplementary material 2 (mp4 20707 KB)


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Copyright information

© Springer-Verlag Berlin Heidelberg 2017

Authors and Affiliations

  • Dong-Hyuk Lee
    • 1
  • Hyeonjun Park
    • 1
  • Jae-Han Park
    • 1
  • Moon-Hong Baeg
    • 1
  • Ji-Hun Bae
    • 1
    Email author
  1. 1.Robot Control and Cognition Lab., Robot R&D GroupKorea Institute of Industrial Technology (KITECH)AnsanKorea

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