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Article: Development of hybrid joints for the compliant arm of human-symbiotic mobile manipulator

TitleDevelopment of hybrid joints for the compliant arm of human-symbiotic mobile manipulator
Authors
KeywordsSafe mobile manipulator
Human-robot symbiotic environment
Impact force
Recovery control
Switching joint
Issue Date2005
Citation
International Journal of Robotics and Automation, 2005, v. 20, n. 4, p. 260-269 How to Cite?
AbstractThis paper presents a safe arm using compliant hybrid joints for human-friendly service robots, which realizes human safety, absorbs impact force, and provides task fulfillment. The robot is composed of links covered with soft materials and hybrid joints, which can be put into active or passive mode as needed. In an unexpected or expected collision with a human, the arising impulse force is attenuated effectively by the proposed physical model, which is developed with the hybrid joints and the soft covering. Owing to the displacement of the links when the joint is passive, a recovery control algorithm has been developed for the end-effector to maintain its desired task position after the collision. The force attenuation property has been verified through collision experiments in that the capability of the proposed passive arm in overcoming the limitations of active compliance control has been demonstrated. Simulation results also showed that the proposed control method is useful for robot's task fulfillment.
Persistent Identifierhttp://hdl.handle.net/10722/212830
ISSN
2015 Impact Factor: 0.318
2015 SCImago Journal Rankings: 0.255

 

DC FieldValueLanguage
dc.contributor.authorLi, Z.-
dc.contributor.authorMing, A.-
dc.contributor.authorXi, N.-
dc.contributor.authorGu, J.-
dc.contributor.authorShimojo, M.-
dc.date.accessioned2015-07-28T04:05:09Z-
dc.date.available2015-07-28T04:05:09Z-
dc.date.issued2005-
dc.identifier.citationInternational Journal of Robotics and Automation, 2005, v. 20, n. 4, p. 260-269-
dc.identifier.issn0826-8185-
dc.identifier.urihttp://hdl.handle.net/10722/212830-
dc.description.abstractThis paper presents a safe arm using compliant hybrid joints for human-friendly service robots, which realizes human safety, absorbs impact force, and provides task fulfillment. The robot is composed of links covered with soft materials and hybrid joints, which can be put into active or passive mode as needed. In an unexpected or expected collision with a human, the arising impulse force is attenuated effectively by the proposed physical model, which is developed with the hybrid joints and the soft covering. Owing to the displacement of the links when the joint is passive, a recovery control algorithm has been developed for the end-effector to maintain its desired task position after the collision. The force attenuation property has been verified through collision experiments in that the capability of the proposed passive arm in overcoming the limitations of active compliance control has been demonstrated. Simulation results also showed that the proposed control method is useful for robot's task fulfillment.-
dc.languageeng-
dc.relation.ispartofInternational Journal of Robotics and Automation-
dc.subjectSafe mobile manipulator-
dc.subjectHuman-robot symbiotic environment-
dc.subjectImpact force-
dc.subjectRecovery control-
dc.subjectSwitching joint-
dc.titleDevelopment of hybrid joints for the compliant arm of human-symbiotic mobile manipulator-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-27144551043-
dc.identifier.volume20-
dc.identifier.issue4-
dc.identifier.spage260-
dc.identifier.epage269-

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