Actuation Methods For Human-Centered Robotics and Associated Control Challenges [chapter]

Michael Zinn, Oussama Khatib, Bernard Roth, J. Kenneth Salisbury
Control Problems in Robotics  
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
more » ... ctuation are discussed along with possible control strategies for their successful implementation.
doi:10.1007/3-540-36224-x_7 dblp:series/star/ZinnKRS03 fatcat:jxrwjstk2ndsrimps5uyy5ejve