Safe joint mechanism using double slider mechanism and spring for humanoid robot arm

2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008

Volumn , Issue , 2008, Pages 73-78

  Kim, Hwi Su ^a   Park, Jung Jun ^a   Song, Jae Bok ^a  

^a Korea University   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

INTELLIGENT ROBOTS; MECHANISMS; ROBOTIC ARMS; STIFFNESS;

ABRUPT DROPS; ACTIVE COMPLIANCES; ACTIVE SYSTEMS; BAR LINKAGES; COLLISION FORCES; COLLISION SAFETIES; EXTERNAL FORCES; HIGH STIFFNESS; HUMAN ENVIRONMENTS; HUMAN INJURIES; HUMANOID ROBOT ARMS; JOINT MECHANISMS; LINEAR SPRINGS; MECHANICAL ELEMENTS; PASSIVE COMPLIANCES; PASSIVE SYSTEMS; POSITIONING ACCURACIES; ROBOT ARMS; SERVICE ROBOTS; SLIDER-CRANK MECHANISMS; STATIC AND DYNAMICS; THRESHOLD FORCES;

ROBOTICS;

EID: 63549140944     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2008.4755934     Document Type: Conference Paper

References (7)

1. M. Okada, Y. Nakamura and S. Ban, "Design of programmable passive compliance shoulder mechanism," Proc. of the IEEE International Conference on Robotics and Automation, pp. 348-353, 2001.
2. T. Morita and S. Sugano, "Development of one-D.O.F. robot arm equipped with mechanical impedance adjuster," Proc. of the IEEE/RSJ International Conference on Intelligent Robots and System, pp. 407-412, 1995.
3. S. Kang and M. Kim, "Safe Arm Design for Service Robot," Proc. of the International Conference on Control, Automation and System, pp. 88-95, 2002.
4. G. Tonietti, R. Schiavi and A. Bicchi, "Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction," Proc. of the IEEE International Conference on Robotics and Automation, pp. 528-533, 2005.
5. J.-J. Park, B.-S. Kim and J.-B. Song, "Safe Link Mechanism based on Passive Compliance for Safe Human-Robot Collision," Proc. of the IEEE International Conference on Robotics and Automation, pp. 1152-1157, 2007.
6. J.-J. Park, Y.-J. Lee, J.-B. Song and H.-S. Kim, "Safe Joint Mechanism based on Nonlinear Stiffness for Safe Human-Robot Collision", Proc. of the IEEE International Conference on Robotics and Automation, pp. 2177-2182, 2008.
7. Y. Yamada, Y. Hirasawa, S. Y. Huang and Y. Umetani, "Fail-safe human/robot contact in the safety space," IEEE International Workshop in Robot and Human Comunication, pp. 59-64, 1996.