Playing it safe

被引：266

作者：

Zinn, M ^{[1
]}

Khatib, O

Roth, B

Salisbury, JK

机构：

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

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

[3] Stanford Univ, Dept Surg, Stanford, CA 94305 USA

来源：

IEEE ROBOTICS & AUTOMATION MAGAZINE | 2004年 / 11卷 / 02期

基金：

美国国家科学基金会;

关键词：

Distributed actuation; Human-friendly; Low impedance; Parallel actuation; Safety actuation;

D O I：

10.1109/MRA.2004.1310938

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 distributed macro-mini actuation (DM) is a new actuation approach that substantially reduces the impact of loads associated with uncontrolled manipulator collision by relocating the major source of actuation effort from the joint to the base of the manipulator. High-frequency torque capability is maintained with the use of small, low-inertia servomotors collocated at the joints. The low output impedance and complete frequency coverage of the new approach allow the combined manipulator system to approximate a pure torque source.

引用

页码：12 / 21

页数：10

共 13 条

[1]

Bicchi A, 2001, IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, P1864, DOI 10.1109/IROS.2001.976345

[2]

Hirzinger G, 2002, 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, P1710, DOI 10.1109/ROBOT.2002.1014788

[3]

Hirzinger G, 2001, IEEE INT CONF ROBOT, P3356, DOI 10.1109/ROBOT.2001.933136

[4]

HOLLERBACH J, 1991, COMP ANAL ACTUATOR T, P299

[5]

HOLMBERG R, 1992, P 9 CISM IFTOMM S TH, P285

[6] A UNIFIED APPROACH FOR MOTION AND FORCE CONTROL OF ROBOT MANIPULATORS - THE OPERATIONAL SPACE FORMULATION [J].

KHATIB, O .

IEEE JOURNAL OF ROBOTICS AND AUTOMATION, 1987, 3 (01) :43-53

[7] INERTIAL PROPERTIES IN ROBOTIC MANIPULATION - AN OBJECT-LEVEL FRAMEWORK [J].

KHATIB, O .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1995, 14 (01) :19-36

[8]

MORREL JB, 1996, THESIS MIT CAMBRIDGE

[9]

Pratt G. A., 1995, P IEEE RSJ INT C INT, V1, P399, DOI 10.1109/iros.1995.525827

[10]

Robinson D., 2000, THESIS MIT CAMBRIDGE

← 1 2 →