WRIST OF DEXTEROUS HUMANOID ROBOT

PROBLEM TO BE SOLVED: To provide a wrist of a dexterous humanoid robot. SOLUTION: A humanoid robot includes a torso, a pair of arms, a neck, a head, a wrist joint assembly, and a control system. The arms and the neck movably extend from the torso. Each of the arms includes a lower arm and a hand that is rotatable relative to the lower arm. The wrist joint assembly is operatively defined between the lower arm and the hand. The wrist joint assembly includes a yaw axis and a pitch axis. The pitch axis is disposed in spaced relation to the yaw axis so that the yaw axis and the pitch axis are generally perpendicular. The pitch axis extends between the yaw axis and the lower arm. The hand is rotatable relative to the lower arm around each of the yaw axis and the pitch axis. The control system is configured for determining a yaw angle and a pitch angle of the wrist joint assembly. COPYRIGHT: (C)2011,JPO&INPIT