Optimal mechanical/control design for safe and fast robotics

Springer Tracts in Advanced Robotics

Volumn 21, Issue , 2006, Pages 311-320

  Tonietti, Giovanni ^a   Schiavi, Riccardo ^a   Bicchi, Antonio ^a  

^a UNIVERSITY OF PISA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

ROBOTS; STIFFNESS;

ACTUATION SYSTEMS; EXPERIMENTAL CAMPAIGN; IMPEDANCE PARAMETERS; INTRINSIC SAFETY; JOINT IMPEDANCE; JOINT VELOCITY; OPTIMAL CONTROL POLICY; TASK EXECUTIONS;

ROBOTICS;

EID: 33845405199     PISSN: 16107438     EISSN: 1610742X     Source Type: Book Series    
DOI: 10.1007/11552246_30     Document Type: Article

References (10)

1. A. Bicchi, G. Tonietti, M. Bavaro, and M. Piccigallo, "Variable stiffness actuators for fast and safe motion control," in Preprints of Proc. Int. Symp. of Robotics Research, R. Chatila and P. Dario, Eds., 2003.
2. A. Bicchi and G. Tonietti, "Dealing with the safety-performance trade-off in robot arms design and control," IEEE Robotics and Automation Magazine, (in press), 2004.
3. Zinn M., Khatib O., Roth B., and Salisbury J.K., "A new actuation approach for human friendly robot design," in Proc. of Int. Symp. on Experimental Robotics - ISER'02, 2002.
4. J.K. Salisbury, Kinematic and Force Analysis of Aticulated Hands, Ph.D. thesis, Stanford University, Stanford, CA, May 1982.
5. T. Morita and S. Sugano, "Design and development of a new robot joint using a mechanical impedance adjuster," in Proc. IEEE Int. Conf. on Robotics and Automation, 1995, pp. 2469-2475.
6. M. Okada and Y. Nakamura, "Development of the cybernetic shoulder - a three-dof mechanism that imitates biological shoulder motion," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1999, pp. 453-548.
7. J. Versace, "A review of the severity index," in Proc. of the Fiteenth Stapp Car Crash Conference. Society of Automotive Engineers, 1971, number SAE Paper No. 710881, pp. 771-796.
8. Y. Kasai and Y. Morimoto, "Electronically controlled continuously variable transmission (ecvt-ii)," in Proc. International Congress on Transportation Electronics, Oct. 1988, pp. 33-42.
9. N. Takesue, G. Zang, J. Furusho, and M. Sakaguchi, "Precise position control of robot arms using a homogeneous er uid," IEEE Control Systems Magazine, pp. 55-61, April 1999.
10. A. Bicchi and G. Tonietti, "Design, realization and control of a passively compliant robot for intrinsic safety," in Proc. Second IARP/ IEEE-RAS Joint Workshop on Techical Challenge for Dependable Robots in Human Environments, 2002.