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

被引：92
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
收藏
页码：2165 / +
页数：2
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