Abstract
The most critical challenge for Personal Robotics is to manage the issue of human safety and yet provide the physical capability to perform useful work. This paper describes a novel concept for a mobile, 2-armed, 25-degree-of- freedom system with backdrivable joints, low mechanical impedance, and a 5 kg payload per arm. System identification, design safety calculations and performance evaluation studies of the first prototype are included, as well as plans for a future development.
Keywords
RoboticsPayload (computing)Mechanical impedanceComputer scienceArtificial intelligenceRobotMechanical designHuman–computer interactionRobotic armIdentification (biology)Mobile robotSimulationSystems engineeringEngineeringElectrical impedanceComputer securityMechanical engineeringElectrical engineering
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Publication Info
- Year
- 2008
- Type
- article
- Pages
- 2165-2170
- Citations
- 184
- Access
- Closed
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Cite This
Keenan A. Wyrobek,
Eric Berger,
H. F. Machiel Van der Loos
et al.
(2008).
Towards a personal robotics development platform: Rationale and design of an intrinsically safe personal robot.
, 2165-2170.
https://doi.org/10.1109/robot.2008.4543527
Identifiers
- DOI
- 10.1109/robot.2008.4543527