TY - GEN
T1 - Instantaneous stiffness effects on impact forces in human-friendly robots
AU - Shin, Dongjun
AU - Quek, Zhan Fan
AU - Phan, Samson
AU - Cutkosky, Mark
AU - Khatib, Oussama
PY - 2011
Y1 - 2011
N2 - Joint stiffness plays an important role in both safety and control performance, particularly in human-friendly robots using artificial pneumatic muscles. Due to the limited control bandwidth of pneumatic muscles, stiffness characteristics and their effects on safety in the frequency domain should be taken into account. This paper introduces the concept of instantaneous stiffness and validates its model with the Stanford Safety Robot (S2ρ). The potential effects of instantaneous stiffness on safety is explored through experimental comparison of peak impact accelerations under various impact conditions. Instantaneous stiffness demonstrates different effects on the impact acceleration depending on impact velocity and controller gain. Finally, the paper discusses the stiffness characteristics as a guideline for design and control to improve the robot safety while maintaining the control performance.
AB - Joint stiffness plays an important role in both safety and control performance, particularly in human-friendly robots using artificial pneumatic muscles. Due to the limited control bandwidth of pneumatic muscles, stiffness characteristics and their effects on safety in the frequency domain should be taken into account. This paper introduces the concept of instantaneous stiffness and validates its model with the Stanford Safety Robot (S2ρ). The potential effects of instantaneous stiffness on safety is explored through experimental comparison of peak impact accelerations under various impact conditions. Instantaneous stiffness demonstrates different effects on the impact acceleration depending on impact velocity and controller gain. Finally, the paper discusses the stiffness characteristics as a guideline for design and control to improve the robot safety while maintaining the control performance.
UR - http://www.scopus.com/inward/record.url?scp=84455169984&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2011.6048690
DO - 10.1109/IROS.2011.6048690
M3 - Conference contribution
AN - SCOPUS:84455169984
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2998
EP - 3003
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -