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

Dongjun Shin, Oussama Khatib, Mark Cutkosky

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

21 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 languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages4369-4374
Number of pages6
DOIs
Publication statusPublished - 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: 2009 May 122009 May 17

Publication series

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

Conference

Conference2009 IEEE International Conference on Robotics and Automation, ICRA '09
Country/TerritoryJapan
CityKobe
Period09/5/1209/5/17

All Science Journal Classification (ASJC) codes

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

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