Towards a personal robotics development platform: Rationale and design of an intrinsically safe personal robot

被引：91

作者：

Wyrobek, Keenan A. ^{[1
]}

Berger, Eric H. ^{[2
]}

Van der Loos, H. F. Machiel ^{[3
]}

Salisbury, J. Kenneth ^{[4
]}

机构：

[1] Stanford Univ, Dept Mech Engn, Stanford, CA 94305 USA

[2] Stanford Univ, Dept Comp Sci, Stanford, CA 94305 USA

[3] Univ British Columbia, Dept Engn Mech, Vancouver, BC V5Z 1M9, Canada

[4] Stanford Univ, Dept Comp Sci & Surg, Stanford, CA 94305 USA

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年

关键词：

D O I：

10.1109/ROBOT.2008.4543527

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The most critical challenge for Personal Robotics is to manage the issue of human safety and yet provide the physical capability to perform useful work. This paper describes a novel concept for a mobile, 2-armed, 25-degree-of-freedom system with backdrivable joints, low mechanical impedance, and a 5 kg payload per arm. System identification, design safety calculations and performance evaluation studies of the first prototype are included, as well as plans for a future development.

引用

页码：2165 / +

页数：2

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