Design methodologies of a hybrid actuation approach for a human-friendly robot

Dongjun Shin; Oussama Khatib; Mark Cutkosky

doi:10.1109/ROBOT.2009.5152744

Design methodologies of a hybrid actuation approach for a human-friendly robot

Dongjun Shin, Oussama Khatib, Mark Cutkosky

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

22 Citations (Scopus)

Abstract

Determining design parameters is often a challenging procedure, especially in human-friendly robot design due to competition between robot safety and performance. Presenting an analytical model of hybrid actuation for humanfriendly robot development, this paper proposes design methodologies to improve performance factors such as range of motion, payload, and acceleration while maintaining the safety factor of effective inertia. The optimized parameters for various design requirements have been provided for 1DOF and 2DOF applications. Comparison between current design parameters and the optimized parameters for a current platform shows the performance improvement. In future work this research will be extended to systems with higher degrees of freedom.

Original language	English
Title of host publication	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages	4369-4374
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2009.5152744
Publication status	Published - 2009
Event	2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan Duration: 2009 May 12 → 2009 May 17

Publication series

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

Conference

Conference	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Country/Territory	Japan
City	Kobe
Period	09/5/12 → 09/5/17

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2009.5152744

Cite this

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title = "Design methodologies of a hybrid actuation approach for a human-friendly robot",

abstract = "Determining design parameters is often a challenging procedure, especially in human-friendly robot design due to competition between robot safety and performance. Presenting an analytical model of hybrid actuation for humanfriendly robot development, this paper proposes design methodologies to improve performance factors such as range of motion, payload, and acceleration while maintaining the safety factor of effective inertia. The optimized parameters for various design requirements have been provided for 1DOF and 2DOF applications. Comparison between current design parameters and the optimized parameters for a current platform shows the performance improvement. In future work this research will be extended to systems with higher degrees of freedom.",

author = "Dongjun Shin and Oussama Khatib and Mark Cutkosky",

year = "2009",

doi = "10.1109/ROBOT.2009.5152744",

language = "English",

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series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "4369--4374",

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note = "2009 IEEE International Conference on Robotics and Automation, ICRA '09 ; Conference date: 12-05-2009 Through 17-05-2009",

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Shin, D, Khatib, O & Cutkosky, M 2009, Design methodologies of a hybrid actuation approach for a human-friendly robot. in 2009 IEEE International Conference on Robotics and Automation, ICRA '09., 5152744, Proceedings - IEEE International Conference on Robotics and Automation, pp. 4369-4374, 2009 IEEE International Conference on Robotics and Automation, ICRA '09, Kobe, Japan, 09/5/12. https://doi.org/10.1109/ROBOT.2009.5152744

Design methodologies of a hybrid actuation approach for a human-friendly robot. / Shin, Dongjun; Khatib, Oussama; Cutkosky, Mark.

2009 IEEE International Conference on Robotics and Automation, ICRA '09. 2009. p. 4369-4374 5152744 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - Determining design parameters is often a challenging procedure, especially in human-friendly robot design due to competition between robot safety and performance. Presenting an analytical model of hybrid actuation for humanfriendly robot development, this paper proposes design methodologies to improve performance factors such as range of motion, payload, and acceleration while maintaining the safety factor of effective inertia. The optimized parameters for various design requirements have been provided for 1DOF and 2DOF applications. Comparison between current design parameters and the optimized parameters for a current platform shows the performance improvement. In future work this research will be extended to systems with higher degrees of freedom.

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Design methodologies of a hybrid actuation approach for a human-friendly robot

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