Journal ArticleDOI
Fast and "soft-arm" tactics [robot arm design]
Antonio Bicchi,G. Tonietti +1 more
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In this paper, the authors considered the problem of designing joint-actuation mechanisms that can allow fast and accurate operation of a robot arm, while guaranteeing a suitably limited level of injury risk.Abstract:
This article considered the problem of designing joint-actuation mechanisms that can allow fast and accurate operation of a robot arm, while guaranteeing a suitably limited level of injury risk. Different approaches to the problem were presented, and a method of performance evaluation was proposed based on minimum-time optimal control with safety constraints. The variable stiffness transmission (VST) scheme was found to be one of a few different possible schemes that allows the most flexibility and potential performance. Some aspects related to the implementation of the mechanics and control of VST actuation were also reported.read more
Citations
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Journal ArticleDOI
Measurement instruments for the anthropomorphism, animacy, likeability, perceived intelligence, and perceived safety of robots
TL;DR: A literature review has been performed on the measurements of five key concepts in HRI: anthropomorphism, animacy, likeability, perceived intelligence, and perceived safety, distilled into five consistent questionnaires using semantic differential scales.
Journal ArticleDOI
Tactile Sensing—From Humans to Humanoids
TL;DR: Tactile sensing, focused to fingertips and hands until past decade or so, has now been extended to whole body, even though many issues remain open, and various system issues that keep tactile sensing away from widespread utility are discussed.
Journal ArticleDOI
Compliant actuator designs
TL;DR: The state of the art in the design of actuators with adaptable passive compliance is described, which is not preferred for classical position-controlled applications such as pick and place operations but is preferred in novel robots where safe human- robot interaction is required or in applications where energy efficiency must be increased by adapting the actuator's resonance frequency.
Journal ArticleDOI
Cooperation of human and machines in assembly lines
TL;DR: In this article, a survey about forms of human-machine cooperation in assembly and available technologies that support the cooperation is presented, including organizational and economic aspects of cooperative assembly including efficient component supply and logistics.
Proceedings ArticleDOI
Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm
TL;DR: An efficient collision detection method that uses only proprioceptive robot sensors and provides also directional information for a safe robot reaction after collision is presented.
References
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Book
Mathematical Theory of Optimal Processes
TL;DR: The fourth and final volume in this comprehensive set presents the maximum principle as a wide ranging solution to nonclassical, variational problems as discussed by the authors, which can be applied in a variety of situations, including linear equations with variable coefficients.
Journal ArticleDOI
The Mathematical Theory of Optimal Processes
TL;DR: The Mathematical Theory of Optimal Processes (MTOP) as mentioned in this paper is a mathematical theory of optimal processes that is closely related to our approach to optimal process analysis, but with a different focus.
Journal ArticleDOI
Internal models for motor control and trajectory planning
TL;DR: The 'minimum variance model' is another major recent advance in the computational theory of motor control, strongly suggesting that both kinematic and dynamic internal models are utilized in movement planning and control.
Proceedings ArticleDOI
Series elastic actuators
TL;DR: It is proposed that for natural tasks, zero motion force bandwidth isn't everything, and incorporating series elasticity as a purposeful element within the actuator is a good idea.
Related Papers (5)
A new variable stiffness design: Matching requirements of the next robot generation
Sebastian I. Wolf,Gerd Hirzinger +1 more