Abstract
As a service robot, we proposed a flower robot which has several functions, such as motion mechanism, sensing ability, and home appliance functions. Among the various functions of flower robot, the motion mechanism is very important function because flower robot should describe their emotion by making gesture. Flower robot can be divided as a flower, a stem and leaves. In previous research, we already proposed stem mechanism actuated by tendons and motors. But this previous stem mechanism has two kinds of drawbacks. Firstly, the previous stem structure has a limited bending angle only about 10 degrees and thus it has the restricted view-angel. Secondly, the stem structure has only two degree of freedom bending motion and it cannot describe various motions. Therefore, we need more advanced stem mechanism which has more degree of freedom in order for the flower robot to express various motions of the flower robot. The new stem mechanism has totally five degree of freedom. Two degrees of freedom are in charge of bending motion of the stem and the remaining three degrees of freedom are in charge of steering motion. The advanced stem mechanism makes it possible to have various motion of the stem. Through the experiments, the performances of the advanced stem structure are verified and the characteristics are analyzed.
| Original language | English |
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| Pages | 642-647 |
| Number of pages | 6 |
| State | Published - 2008 |
| Event | 39th International Symposium on Robotics, ISR 2008 - Seoul, Korea, Republic of Duration: 15 Oct 2008 → 17 Oct 2008 |
Conference
| Conference | 39th International Symposium on Robotics, ISR 2008 |
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| Country/Territory | Korea, Republic of |
| City | Seoul |
| Period | 15/10/08 → 17/10/08 |