Actuation Methods For Human-Centered Robotics and Associated Control Challenges

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


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.


Joint Actuator Transmission Zero Inherent Safety Actuation Approach Open Loop Mode 
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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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