A New Actuation Approach for Human Friendly Robot Design  

Oleh:

Zinn, Michael ; Roth, Bernard ; Khatib, Oussama ; Salisbury, J. Kenneth

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 23 no. 4-5 (Apr. 2004), page 379-398.
Topik: actuation; human-friendly; safety; robotics; control
Fulltext: 379.pdf (2.14MB)

Isi artikel

In recent years, many successful robotic manipulator designs have been introduced. However, there remains the challenge of designing a manipulator that possesses the inherent safety characteristics necessary for human-centered robotics. In this paper, we present a new actuation approach that has the requisite characteristics for inherent safety while maintaining theperformance expected of modern designs. By drastically reducing the effective impedance of the manipulator while maintaining high-frequency torque capability, we show that the competing design requirements of performance and safety can be successfully integrated into a single manipulation system.

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