A hybrid actuation approach for human-friendly robot design

Dongjun Shin, Irene Sardellitti, Oussama Khatib

Research output: Chapter in Book/Report/Conference proceedingConference contribution

88 Citations (Scopus)

Abstract

Safety is a critical characteristic for robots designed to operate in human environments. This paper presents the concept of hybrid actuation for the development of human-friendly robotic systems. The new design employs inherently safe pneumatic artificial muscles augmented with small electrical actuators, human-bone-inspired robotic links, and newly designed distributed compact pressure regulators. The modularization and integration of the robot components enable low complexity in the design and assembly. The hybrid actuation concept has been validated on a two-degree-of-freedom prototype arm. The experimental results show the significant improvement that can be achieved with hybrid actuation over an actuation system with pneumatic artificial muscles alone. Using the Manipulator Safety Index (MSI), the paper discusses the safety of the new prototype and shows the robot arm safety characteristics to be comparable to those of a human arm.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages1747-1752
Number of pages6
DOIs
Publication statusPublished - 2008
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 2008 May 192008 May 23

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Country/TerritoryUnited States
CityPasadena, CA
Period08/5/1908/5/23

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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