Design of Programmable Passive Compliance for Humanoid Shoulder

Towards Skill of Compliance of Humanoid Robots
  • Masafumi Okada
  • Yoshihiko Nakamura
  • Shigeki Ban
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 271)


We have developed the 3-DOF humanoid’s shoulder mechanism ‘Cybernetic Shoulder’. Whose advantages are human-like motion, introduction of the passive compliance, large mobile area and singularity free. In this paper, we develop the second prototype of the cybernetic shoulder which has the programmable passive compliance mechanism using a redundant actuator, which is an essential function for humanoid robots to realize the human skill. The programmability of this mechanism is evaluated by an experiment.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Masafumi Okada
    • 1
  • Yoshihiko Nakamura
    • 1
  • Shigeki Ban
    • 1
  1. 1.Univ. of TokyoTokyoJapan

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