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Playing it safe
Abstract
We have presented a new actuation concept for human-friendly robot design, referred to as DM/sup 2/. The new concept of DM/sup 2/ was demonstrated on a two-degree-of-freedom prototype robot arm that we designed and built to validate our approach. The new actuation approach substantially reduces the impact loads associated with uncontrolled manipulator collision by relocating the major source of actuation effort from the joint to the base of the manipulator. The emerging field of human-centered robotics focuses on application such as medical robotics and service robotics, which require close interaction between robotic manipulation systems and human beings, including direct human-manipulator contact. As a result, this system must consider the requirements of safety. To achieve safety we must employ multiple strategies involving all aspects of manipulator design.
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Citations
Cited by
Ham, R., Sugar, T., Vanderborght, B., Hollander, K., & Lefeber, D. (2009) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2009.933629 · Cited by 834
The DLR lightweight robot: design and control concepts for robots in human environments
Albu‐Schäffer, A., Haddadin, S., Ott, C., Stemmer, A., Wimböck, T., & Hirzinger, G. (2007) · Industrial Robot: An International Journal · doi:10.1108/01439910710774386 · Cited by 623
Working Together: A Review on Safe Human-Robot Collaboration in Industrial Environments
Robla-Gomez, S., Becerra, V. M., Llata, J. R., Gonzalez-Sarabia, E., Torre-Ferrero, C., & Perez-Oria, J. (2017) · IEEE Access · doi:10.1109/access.2017.2773127 · Cited by 589
The evolution of robotics research
Garcia, E., Jimenez, M. A., De Santos, P. G., & Armada, M. (2007) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2007.339608 · Cited by 371
Challenges for robot manipulation in human environments [Grand Challenges of Robotics]
Kemp, C., Edsinger, A., & Torres-Jara, E. (2007) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2007.339604 · Cited by 371
Metadata
- Authors
- Zinn, M., Khatib, O., Roth, B., & Salisbury, J. K.
- Venue
- IEEE Robotics & Automation Magazine
- Published
- 2004-06
- Volume
- 11
- Issue
- 2
- Pages
- 12-21
- ISSN
- 1070-9932 (ISSN-L)
- OpenAlex
- W1962965017
- Cited by
- 409
- References
- 0
- FWCI
- 37.82
- Type
- journal article
- Language
- en
- Open access
- closed
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- Zinn, M., Khatib, O., Roth, B., & Salisbury, J. K. (2004). Playing it safe. IEEE Robotics & Automation Magazine. https://doi.org/10.1109/mra.2004.1310938
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
