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Actuation Methods For Human-Centered Robotics and Associated Control Challenges

  • Michael Zinn
  • Oussama Khatib
  • Bernard Roth
  • J. Kenneth Salisbury
Chapter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 4)

Abstract

In recent years, many successful robotic manipulator designs have been introduced. However, there remains the challenge of designing a manipulator that possesses the inherent safety characteristics necessary for human-centered robotics. In this paper, we describe recent developments in low impedance actuation that have allowed for improvements in the safety characteristics of human-centered manipulators. In addition, the control challenges unique to the use of low impedance actuation are discussed along with possible control strategies for their successful implementation.

Keywords

Joint Actuator Transmission Zero Inherent Safety Actuation Approach Open Loop Mode 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Michael Zinn
    • 1
  • Oussama Khatib
    • 2
  • Bernard Roth
    • 1
  • J. Kenneth Salisbury
    • 2
  1. 1.Department of Mechanical Engineering, Design DivisionStanfordUSA
  2. 2.Department of Computer ScienceRobotics Laboratory Stanford UniversityStanfordUSA

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