A New Actuation Approach for Human Friendly Robot Design

International Journal of Robotics Research - Tập 23 Số 4-5 - Trang 379-398 - 2004
Michael Zinn1, Bernard Roth1, Oussama Khatib2, J. Kenneth Salisbury2
1Design Division, Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
2Robotics Laboratory, Department of Computer Science, Stanford University, Stanford, CA 94305, USA

Tóm tắt

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 the performance 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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Tài liệu tham khảo

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Thông tin xuất bản

International Journal of Robotics Research

Tập 23 Số 4-5

379-398

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