A new variable stiffness design: Matching requirements of the next robot generation

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2008, Pages 1741-1746

  Wolf, Sebastian ^a   Hirzinger, Gerd ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ACCIDENT PREVENTION; COMPUTER NETWORKS; INDUSTRIAL ENGINEERING; MACHINE DESIGN; ROBOTIC ARMS; ROBOTICS; STIFFNESS;

INTERNATIONAL CONFERENCES; UNKNO WN ENVIRONMENTS; VARIABLE STIFFNESS;

ROBOTS;

EID: 51649106853     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2008.4543452     Document Type: Conference Paper

References (15)

1. M. Grebenstein and P. van der Smagt, "Antagonism for a highly anthropomorphic hand-arm system," Advanced Robotics, 2008, in print.
2. G. A. Pratt and M. M. Williamson, "Series elastic actuators," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Pittsburg, PA, USA: IEEE/RSJ, July 1995, pp. 399-406.
3. A. Bicchi and G. Tonietti, "Fast and soft-arm tactics - dealing with the safety-performance tradeoff in robot arms design and control," IEEE Robotics & Automation Magazine, vol. June 2004, pp. 22-33, June 2004.
4. K. Koganezawa, "Mechanical stiffness control for antagonistically driven joints," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ, August 2005, pp. 2512-2519.
5. S. A. Migliore, E. A. Brown, and S. P. DeWeerth, "Biologically inspired joint stiffness control," in Proc. 2005 IEEE International Conference on Robotics and Automation. Laboratory for Neuroengineering, Georgia Institute of Technology, Atlanta, Georgia 30332: IEEE, April 2005, pp. 4519-4524.
6. C. English and D. Russell, "Implementation of variable joint stiffness through antagonistic actuation using rolamite springs," Mechanism and Machine Theory, vol. 34, no. 1, pp. 27-40, 1999.
7. G. Tonietti, R. Schiavi, and A. Bicchi, "Design and control of a variable stiffness actuator for safe and fast physical human/robot interaction," in Proc. 2005 IEEE International Conference on Robotics and Automation. Interdepartmental Research Center E. Piaggio Faculty of Engineering, University of Pisa via Diotisalvi,2 56100, Pisa (Italy): IEEE, April 2005, pp. 582-533.
8. M. Zinn, O. Khatib, B. Roth, and J. K. Salisbury, "Playing it safe - a new actuation concept for human-friendly robot design," IEEE Robotics & Automation Magazine, vol. June 2004, pp. 12-21, June 2004.
9. T. Morita and S. Sugano, "Development and evaluation of seven-d.o.f. mia arm," in Proc. 1997 IEEE International Conference on Robotics and Automation, September 1997, pp. 462-467.
10. M. Okada, Y. Nakamura, and S. Ban, "Design of programmable passive compliance shoulder mechanism," in Proc. 2001 IEEE International Conference on Robotics & Automation. Dept. of Mechano-Informatics, University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo, 113-8656 Japan; CREST Program, Japan Science and Technology Corporation: IEEE, May 2001, pp. 348-353.
11. S. Haddadin, A. Albu-Schäffer, and G. Hirzinger, "Safety evaluation of physical human-robot interaction via crash-testing," in Robotics: Science and Systems Conference (RSS2007), 2007.
12. B. Vanderborght, B. Verrelst, R. V. Ham, M. V. Damme, D. Lefeber, B. M. Y. Duran, and P. Beyl, "Exploiting natural dynamics to reduce energy consumption by controlling the compliance of soft actuators," The International Journal of Robotics Research, vol. 25, no. 4, pp. 343-358, 2006.
13. J. W. Hurst, J. E. Chestnutt, and A. A. Rizzi, "An actuator with physically variable stiffness for highly dynamic legged locomotion," in Proc. of IEEE International Conference on Robotics and Automation. New Orleans, LA, USA: IEEE, April 2004, pp. 4662-4667.
14. D. P. Ferris, M. Louie, and C. T. Farley, "Running in the real world - adjusting leg stiffness for different surfaces," Proceedings of the Royal Society B: Biological Sciences, vol. 265, no. 1400, pp. 989-994, June 1998.
15. C. Ott, O. Eiberger, W. Friedl, B. Bäuml, U. Hillenbrand, C. Borst, A. Albu-Schäffer, B. Brunner, H. Hirschmuller, S. Kielhofer, R. Konietschke, M. Suppa, T. Wimbock, F. Zacharias, and G. Hirzinger, "A humanoid two-arm system for dexterous manipulation," in 6th IEEE-RAS International Conference on Humanoid Robots, Genova, December 2006, pp. 276-283.