Modular Hybrid Robots for Safe Human-Robot Interaction
The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the stiffness of the internal parallel modules, representing 2 DOF joints in the serial robotic chains, is controlled by co-activation of opposing redundant actuator groups in the null-space of the module Jacobian, without influencing the actual robot position. The decoupled position/stiffness control allows the realization of variable joint stiffness according to different force-displacement relationships. The variable joint stiffness, as well as limited pneumatic muscle/bellows force ability, ensures internal system safety that is crucial for development of human-friendly robots intended for human-robot collaboration. The initial experiments with the system prototype demonstrate the capabilities of independently, simultaneously controlling both joint (Cartesian) motion and joint stiffness. The paper also presents the possible industrial applications of snake-like robots built using the new modules.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1077433Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1489
 Vukobratović M., Surdilović D., Ekalo Y., Katic D., Dynamics and Robust Control of Robot-Environment Interaction, World-Scientific, New-Jersey, 2009.
 Chiaverrini S., Siciliano B., Villani L., 1999, A Survey of Robot Interaction Control Schemes with Experimental Comparison, IEEE/ASME Trans. on Mechatronics, Vol. 4, No. 3, 273-285.
 Sami Haddadin, Alin Albu-Sch├ñffer and Gerd Hirzinger: The Role of the Robot Mass and Velocity in Physical Human-Robot Interaction - Part I: Unconstrained Blunt Impacts, IEEE Int. Conf. on Robotics and Automation (ICRA 2008), Pasadena, USA, 2008.
 Dongjun Shin, Irene Sardeliti and Oussama Khatib:A Hybrid Actuation Approach for Human-Friendly Robot Design, IEEE Int. Conf. on Robotics and Automation (ICRA 2008), Pasadena, USA, 2008.
 Albu-Sch├ñfer A., Eiberger O., Grebenstein M., Haddadin S., Ott C., Wimböck T., Wolf S. and Hirzinger G., : ÔÇ×Soft Robotics", IEEE Robotics & Automation Magazine, September 2008, pp. 20-26.
 Bicchi A., Tonnieti G., "Fast and "Soft-Arm" Tactics", IEEE Robotics&Automation Magazine, June 2004, pp.22-33.
 J. P. Merlet, Parallel Robots (Solid mechanics and its Applications), 2end ed., Springer-Verlag, 2006.
 B. Tondu, V. Boitier, P. Lopez. Natural compliance of robot-arms based on McKibben artificial muscle actuators. In European Robotics and Intelligent Systems Conference, pp. 783-797, Malaga, 1994.
 Daerden F., Conception and Realization of Pleated Pneumatic Artificial Muscles and Their Use as Compliant Actuation Elements, PhD. Thesis, Vrije, Universiteit Brussel, 1999.
 Radojicic J., Surdilovic D. and Kr├╝ger J., "Control Algorithms of Pneumatic-Muscles Actuators in Complex Mechanical Chains", CD Proc. III Int. Symp. on Adaptive Motion in Animals and Machines, AMAM-2005, Sep. 2005, Ilmenau, Germany, Abs. pp 44.