Design and control of a bio-inspired human-friendly robot

International Journal of Robotics Research

Volumn 29, Issue 5, 2010, Pages 571-584

  Shin, Dongjun ^a   Sardellitti, Irene ^b   Park, Yong Lae ^a   Khatib, Oussama ^a   Cutkosky, Mark ^a  

^a Stanford University   (United States)

^b ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

Author keywords

Biologically inspired robots; Compliance and impedance control; Force control; Human Safety robot design; Mechanism design; Physical human robot interaction; Pneumatic systems; Robot safety

Indexed keywords

BIOLOGICALLY-INSPIRED ROBOTS; HUMAN ROBOT INTERACTIONS; HUMAN SAFETY; IMPEDANCE CONTROL; MECHANISM DESIGN; PNEUMATIC SYSTEM; ROBOT DESIGNS; ROBOT SAFETY;

FORCE CONTROL; HUMAN COMPUTER INTERACTION; MACHINE DESIGN; MAN MACHINE SYSTEMS; MUSCLE; PNEUMATIC CONTROL; PNEUMATIC CONTROL EQUIPMENT; PRESSURE REGULATORS; ROBOTIC ARMS;

HUMAN ROBOT INTERACTION;

EID: 77951138463     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364909353956     Document Type: Conference Paper

References (36)

1. Bicchi, A., Peshkin, M. and Colgate, J.E. (2008). Safety for Physical Human-Robot Interaction (Handbook of Robotics 2008). Berlin, Springer, pp. 1335-1348.
2. Bicchi, A. and Tonietti, G. (2004). Fast and soft arm tactics: Dealing with the safety-performance trade-off in robot arms design and control. IEEE Robotics and Automation Magazine, 11: 22-33.
3. Caldwell, D.G., Medrano-Cerda, G.A. and Goodwin, M.J. (1995). Control of pneumatic muscle actuators. IEEE Control Systems Magazine, 15: 40-48.
4. Chaffin, D., Andersson, G. and Martin, B. (2006). Occupational Biomechanics, Vol. 2 (4 th edn). New York, Wiley, pp. 47-49.
5. Cham, J.G., Bailey, S.E., Clark, J.C., Full, R.J. and Cutkosky, M.R. (2002). Fast and robust: Hexapedal robots via shape deposition manufacturing. The International Journal of Robotics Research, 21: 869-882.
6. Chou, C.P. and Hannaford, B. (1996). Measurement and modeling of mckibben pneumatic artificial muscles. IEEE Robotics and Automation Magazine, 12: 90-102. (Pubitemid 126780450)
7. Colbrunn, R.W., Nelson, G.M. and Quinn, R.D. (2001). Modeling of braided pneumatic actuators for robotic control. Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 4, pp. 1964- 1970.
8. De Luca, A., Albu-Schaffer, A., Haddadin, S. and Hirzinger, G. (2006). Collision detection and safe reaction with the DLR-III lightweight manipulator arm. Proceedings of Intelligent Robots and Systems, pp. 1623-1630.
9. Ebert, D.M. and Henrich, D.D. (2002). Safe human-robotcooperation: Image based collision detection for industrial robots. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1826-1831.
10. English, C. and Russell, D. (1999). Mechanics and stiffness limitations of variable stiffness actuator for use in prosthetic limbs. Mechanism and Machine Theory, 34: 7-25.
11. Haddadin, S., Albu Schaffer, A. and Hirzinger, G. (2007). Safety evaluation of physical human-robot interaction via crash testing. Proceedings of the Robotics: Science and Systems Conference.
12. Haddadin, S., Albu Schaffer, A. and Hirzinger, G. (2008). The role of the robot mass and velocity in physical human- robot interaction-part I: Unconstrained blunt impacts. IEEE International Conference on Robotics and Automation, Pasadena, CA, pp. 1331-1338.
13. Heinzmann, J. and Zelinsky, A. (2003). Quantitative safety guarantees for physical human-robot interaction. The International Journal of Robotics Research, 22: 479-504.
14. Khatib, O. (1986). Real time obstacle avoidance for manipulators and mobile robots. The International Journal of Robotics Research, 5: 90-99.
15. Khatib, O. (1995). Inertial properties in robotic manipulation: An object-level framework. The International Journal of Robotics Research, 14: 19-36.
16. Kontz, M. (2007). Haptic Control of Hydraulic Machinery Using Proportional Valves. PhD thesis, Georgia Institute of Technology, Atlanta, GA.
17. Lumelsky, V. and Cheung, E. (1993). Real-time collision avoidance in teleoperated whole-sensitive robot arm manipulator. IEEE Transactions on Systems, Man, and Cybernetics, 23: 194-203.
18. Migliore, S.A., Brown, E.A. and DeWeerth, S.P. (2005). Biologically inspired joint stiffness control. IEEE International Conference on Robotics and Automation, pp. 4508-4513.
19. Morrel, J.B. (1996). Parallel Coupled Micro-Macro Actuators. PhD thesis, Massachusetts Institute of Technology, Cambridge, MA.
20. Nasa (1995). Man-systems integration standards. NASA-STD-3000 1: Section 4.
21. Novak, J.L. and Feddema, I.T. (1992). A capacitance-based proximity sensor for whole arm obstacleavoidance. Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1307-1314.
22. Pratt, G. and Williamson, M. (1995). Series elastic actuators. Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 399- 406.
23. Salisbury, J.K., Eberman, B.S., Townsend, W.T. and Levin, M.D. (1989). Design and control of an experimental whole-arm manipulator. Proceedings of the 1989 International Symposium on Robotics Research.
24. Sardellitti, I., Park, J., Shin, D. and Khatib, O. (2007). Air muscle controller design in the distributed macro-mini (DM2) actuation approach. Proceedings of the 2007 IEEE/RSJ International Conf. on Intelligent Robots and Systems.
25. Schiavi, R., Grioli, G., Sen, S. and Bicchi, A. (2008). VSA-II: A novel prototype of variable stiffness actuator for safe and performing robots interacting with humans. IEEE International Conference on Robotics and Automation.
26. Shin, D., Sardellitti, I. and Khatib, O. (2008). A hybrid actuation approach for human-friendly robot design. Proceedings of the 2008 IEEE International Conference on Robotics and Automation.
27. Thaulad, P. (2005). Human Friendly Robot Control System Design and Experimental Validation, Degree in Engineering Thesis, Stanford University, Stanford, CA.
28. Tondu, B. and Lopez, P. (2000). Modeling and control of McKibben artificial muscle robot actuators. IEEE Control Systems Magazine, 30: 15-38. (Pubitemid 30589176)
29. Tondu, B. and Zagal, S.D. (2006). McKibben artificial muscle can be adapted to be in accordance with the Hill skeletal muscle model. IEEE International Conference on Biomedical Robotics and Biomechatronics.
30. Tonietti, G. and Bicchi, A. (2002). Adaptive simultaneous position and stiffness control for a soft robot arm. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1992-1997.
31. Van Ham, R., Vanderborght, B., Van Damme, M., Verrelst, B. and Lefeber, D. (2007). MACCEPA, the mechanically adjustable compliance and controllable equilibrium position actuator: Design and implementation in a biped robot. Robotics and Autonomous Systems, 55: 761-768. (Pubitemid 47419288)
32. Van Ham, R., Verrelst, B., Daerden, F. and Lefeber, D. (October 2003). Pressure control with on-off valves of pleated pneumatic artificial muscles in a modular one-dimensional rotational joint. International Conference on Humanoid Robots, p. 35.
33. Weiss, L.E., Merz, R., Prinz, F.B., Neplotnik, G., Padmanabhan, P., Schultz, L. and Ramaswami, K. (1997). Shape deposition manufacturing of heterogeneous structures. Journal of Manufacturing Systems, 16: 239-248. (Pubitemid 127447584)
34. Wolf, S. and Hirzinger, G. (2008). A new variable stiffness design: matching requirements of the next robot generation. IEEE International Conference on Robotics and Automation.
35. Zinn, M. (2005). A New Actuation Approach for Human Friendly Robotic Manipulation. PhD thesis, Stanford University, Stanford, CA.
36. Zinn, M., Roth, B., Khatib, O. and Salisbury, J.K. (2004). New actuation approach for human-friendly robot design. The International Journal of Robotics Research, 23: 379-398.