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

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...

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Bibliographic Details
Published in2008 IEEE International Conference on Robotics and Automation pp. 2165 - 2170
Main Authors Wyrobek, K.A., Berger, E.H., Van der Loos, H.F.M., Salisbury, J.K.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2008
Subjects
Force control
Human robot interaction
Humanoid robots
ISO standards
Orbital robotics
Payloads
Rehabilitation robotics
Robotics and automation
Service robots
Software safety
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Summary: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.
ISBN:1424416469
9781424416462
ISSN:1050-4729
DOI:10.1109/ROBOT.2008.4543527