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Ensuring safety is a primary goal in physical human-robot interaction. In various collision experiments it was found that the robot's effective mass, velocity, and geometry are the key parameters which influence the human injury severity during an impact. Recently, a velocity controller was proposed that limits the robot speed to a biomechanically safe value, taking into account the mass and the curvature...
Kinematic redundancy is a characteristic and beneficial property in collaborative robots nowadays as it enhances the flexibility and dexterity of the system. While the robot is manipulating an object, it is often necessary to kinematically reconfigure the robot, for example, when it obstructs the human. For this, internal or so-called null space motions can be carried out which do not affect the main...
Modal decoupling is a common approach in engineering to analyze the dynamic behavior of mechanical systems and simplify the controller design. By bringing the system dynamics into diagonal form, one obtains SISO systems for which independent feedback strategies can be implemented. Furthermore, there exist control laws that utilize the available control inputs up to their limits, e.g. optimization-based...
Many future application scenarios of robotics envision robotic agents to be in close physical interaction with humans: On the factory floor, robotic agents shall support their human co-workers with the dull and health threatening parts of their jobs. In their homes, robotic agents shall enable people to stay independent, even if they have disabilities that require physical help in their daily life...
It has recently been shown that intrinsically elastic robots are capable of outperforming rigid robots in terms of peak velocity by making systematic use of energy storage and release. Certainly, high link side velocities are beneficial for performance, however, they also increase the probability of self damage or human injury in case of a collision. To ensure the physical integrity of both human...
Recently, intrinsically elastic joints became increasingly popular due to several reasons. Most importantly, elasticity improves impact robustness and, if used wisely, energy efficiency. Potential energy storage and release capabilities in the joints allow to outperform rigid manipulators by means of achievable peak link velocity. It has therefore been of great interest to find explosive or cyclic...
Designing intrinsically elastic robot systems, making systematic use of their properties in terms of impact decoupling, and exploiting temporary energy storage and release during excitative motions is becoming an important topic in nowadays robot design and control. In this paper we treat two distinct questions that are of primary interest in this context. First, we elaborate an accurate estimation...
Intrinsically elastic joints have become increasingly popular over the last years. Commonly, they are considered to outperform rigid actuation in terms of peak dynamics, robustness, and energy efficiency. In particular, the possible increase of link speed by adequate motor excitation trajectories, such that the elastic transmission temporarily stores elastic energy and then timely converts it into...
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