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JBE, vol. 25, no. 4, pp.487-496, July, 2020


Development of Robot Performance Platform Interoperating with an Industrial Robot Arm and a Humanoid Robot Actor

Jayang Cho, Jinyoung Kim, Sulhee Lee, Sang-won Lee, and Hyungtae Kim

C.A E-mail:


For the purpose of next generation technology for robot perfomances, a RAoRA (Robot Actor on Robot Arm) structure was proposed using a robot arm joined with a humanoid robot actor. Mechanical analysis, machine design and fabrication were performed for motions combined with the robot arm and the humanoid robot actor. Kinematical analysis for 3D model, spline interpolation of positions, motion control algorithm and control devices were developed for movements of the robot actor. Preliminary visualization, simulation tools and integrated operation of consoles were constructed for the non-professionals to produce intuitive and safe contents. Air walk was applied to test the developed platform. The air walk is a natural walk close to a floor or slow ascension to the air. The RAoRA also executed a performance with 5 minute-running time. Finally, the proposed platform of robot performance presented intensive and live motions which was impossible in conventional robot performances.

Keyword: robot show, robot actor, industrial robot arm, air walk, animatronics

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