Kinematic Analysis of Motor Axis Alignment on Humanoid Shoulder for GreetinG

Needs and studies on service robot are growing with rapid market extension. Generating human-like motions on robot is one research area of human-robot interaction. There are several studies about motion generation and humanoid design. However, kinematic analysis of humanoid design for service tasks should also performed. This paper focuses on motor alignment of humanoid shoulder. After we measure human greeting gestures with 3D capture camera and predefine workspace, simulation is performed to find motor alignment on humanoid shoulder to minimize total required motor power. Result shows that there are specific alignment for designing shoulder to perform greeting tasks on small motor powers.