FLoW head: 7 DOF mechanism for FLoW humanoid

Abstract

Humanoid robot has become popular research platforms in robotics and artificial intelligence. Humanoid robot can perform complex motions, including the balancing, walking, and kicking skills required in the RoboCup robot soccer competition. The humanoid robot from the Electronic Engineering Polytechnic Institute of Surabaya (EEPIS) research center named FLoW. This paper discusses about the FLoW head mechanism. Flow head mechanism is split into three parts there are eye mechanism, head mechanism and neck mechanism. The forward kinematic from FLoW head mechanism is obtained to generate workspace of motion. The FloW head workspace of motion is compared to human workspace of motion. From the experiment the motion of FLoW head already approached human easy head motion.