TY - GEN
T1 - Analysis of torque capacities in hybrid actuation for human-friendly robot design
AU - Shin, Dongjun
AU - Seitz, Fabian
AU - Khatib, Oussama
AU - Cutkosky, Mark
PY - 2010
Y1 - 2010
N2 - A formidable challenge in the development of human-friendly robots is to simultaneously achieve desired levels of performance and safety. To address this issue, a hybrid actuation concept has been proposed, combining large, low impedance actuators and small, high-frequency actuators. However, the determination of design parameters remains a challenge, as stiffness and electrical motor torque capacity simultaneously affect both the control performance and the safety of the manipulator. Using analytical models of the hybrid actuation system, we propose a methodology to achieve a combination of low impedance and high control bandwidth. The optimized parameters are verified and compared with previous ones through simulation and experimentation.
AB - A formidable challenge in the development of human-friendly robots is to simultaneously achieve desired levels of performance and safety. To address this issue, a hybrid actuation concept has been proposed, combining large, low impedance actuators and small, high-frequency actuators. However, the determination of design parameters remains a challenge, as stiffness and electrical motor torque capacity simultaneously affect both the control performance and the safety of the manipulator. Using analytical models of the hybrid actuation system, we propose a methodology to achieve a combination of low impedance and high control bandwidth. The optimized parameters are verified and compared with previous ones through simulation and experimentation.
UR - http://www.scopus.com/inward/record.url?scp=77955821733&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.2010.5509628
DO - 10.1109/ROBOT.2010.5509628
M3 - Conference contribution
AN - SCOPUS:77955821733
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 799
EP - 804
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -