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A New Actuation Approach for Human Friendly Robot DesignDesign Division, Department of Mechanical Engineering Stanford University Stanford, CA 94305, USA zinn{at}robotics.stanford.edu
Design Division, Department of Mechanical Engineering Stanford University Stanford, CA 94305, USA roth{at}robotics.stanford.edu
Robotics Laboratory, Department of Computer Science Stanford University Stanford, CA 94305, USA ok{at}robotics.stanford.edu
Robotics Laboratory, Department of Computer Science Stanford University Stanford, CA 94305, USA jks{at}robotics.stanford.edu 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.
Key Words: actuation • human-friendly • safety • robotics • control
The International Journal of Robotics Research, Vol. 23, No. 4-5,
379-398 (2004) This article has been cited by other articles:
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