Design and Control of a Bio-inspired Human-friendly Robot

Shin, Dong-Chun; Sardellitti, Irene; Park, Yong‐Lae; Khatib, Oussama; Cutkosky, Mark R.

doi:10.1177/0278364909353956

Cited by 100 publications

(43 citation statements)

References 35 publications

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“…[9,10] Muscle-a structure ubiquitous in nature-still has no real counterpart in materials science, robotics, or actuation, although there are examples of electromagnetic actuators and other useful structures (for example "air muscles") which have some muscle-like properties. [11] There are a number of approaches exploring muscle-like structures as new types of components for soft robotic, but few have been widely developed or deployed. [12][13][14] Many biologically inspired soft robots have been built using electroactive polymers (EAPs) actuators.…”

Section: Introductionmentioning

confidence: 99%

Elastomeric Origami: Programmable Paper‐Elastomer Composites as Pneumatic Actuators

Martínez

Fish

Chen

et al. 2012

Adv Funct Materials

558

393

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The development of soft pneumatic actuators based on composites consisting of elastomers with embedded sheet or fiber structures (e.g., paper or fabric) that are flexible but not extensible is described. On pneumatic inflation, these actuators move anisotropically, based on the motions accessible by their composite structures. They are inexpensive, simple to fabricate, light in weight, and easy to actuate. This class of structure is versatile: the same principles of design lead to actuators that respond to pressurization with a wide range of motions (bending, extension, contraction, twisting, and others). Paper, when used to introduce anisotropy into elastomers, can be readily folded into 3D structures following the principles of origami; these folded structures increase the stiffness and anisotropy of the elastomeric actuators, while being light in weight. These soft actuators can manipulate objects with moderate performance; for example, they can lift loads up to 120 times their weight. They can also be combined with other components, for example, electrical components, to increase their functionality.

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Section: Introductionmentioning

confidence: 99%

Elastomeric Origami: Programmable Paper‐Elastomer Composites as Pneumatic Actuators

Martínez

Fish

Chen

et al. 2012

Adv Funct Materials

558

393

View full text Add to dashboard Cite

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“…Bio-inspired robotics design results in compliant robotic systems with improvement natural dynamics and kinematics performance (Hogan, 1985;Migliore et al, 2005;Shin et al, 2010). These improvements have led to the development of variable impedance actuators (VIA), of which the actuator mechanical properties (inertia, damping, or stiffness) affect the system equilibrium position .…”

Section: Introductionmentioning

confidence: 99%

“…In order to solve these problems, passive compliant elements can be added to the actuator. An early approach was proposed in the Serial Elastic Actuator (SEA) (Shin et al, 2010). Several techniques on the SEA structures and control systems were presented in the literature (Migliore et al, 2005;Bischoff et al, 2010).…”

Section: Introductionmentioning

confidence: 99%

Modeling, Control, and Numerical Simulations of a Novel Binary-Controlled Variable Stiffness Actuator (BcVSA)

et al. 2018

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This research work aims at realizing a new compliant robotic actuator for safe human-robotic interaction. In this paper, we present the modeling, control, and numerical simulations of a novel Binary-Controlled Variable Stiffness Actuator (BcVSA) aiming to be used for the development of a novel compliant robotic manipulator. BcVSA is the proof of concept of the active revolute joint with the variable recruitment of series-parallel elastic elements. We briefly recall the basic design principle which is based on a stiffness varying mechanism consisting of a motor, three inline clutches, and three torsional springs with stiffness values (K 0 , 2K 0 , 4K 0 ) connected to the load shaft and the motor shaft through two planetary sun gear trains with ratios (4:1, 4:1 respectively). We present the design concept, stiffness and dynamic modeling, and control of our BcVSA. We implemented three kinds of Multiple Model Predictive Control (MPC) to control our actuator. The main motivation of choosing this controller lies in the fact that working principle of multiple MPC and multiple states space representation (stiffness level) of our actuator share similar interests. In particular, we implemented Multiple MPC, Multiple Explicit MPC, and Approximated Multiple Explicit MPC. Numerical simulations are performed in order to evaluate their effectiveness for the future experiments on the prototype of our actuator. The simulation results showed that the Multiple MPC, and the Multiple Explicit MPC have similar results from the robustness point of view. On the other hand, the robustness performance of Approximated Multiple Explicit MPC is not good as compared to other controllers but it works in the offline framework while having the capability to compute the sub-optimal results. We also performed the comparison of MPC based controllers with the Computed Torque Control (CTC), and Linear Quadratic Regulator (LQR). In future, we are planning to test the presented approach on the hardware prototype of our actuator.

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“…Strategies used in safe human-robot collaboration (HRC) can be broadly divided into two categories: pre-collision strategy [2-4] and post-collision strategy [5]. The former strategy detects the danger before the collision and takes measures to prevent imminent collision.…”

Section: Introductionmentioning

confidence: 99%

A Robot Collision Avoidance Method Using Kinect and Global Vision

Huang

Yang

et al. 2017

TELKOMNIKA

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This paper introduces a robot collision avoidance method using Kinect and global vision to improve the industrial robot's security. Global vision is installed above the robot, and a combination of the background-difference method and the Otsu algorithm are used. Human skeleton detection is then Keywords: robot safety, human body skeleton detection, Kalman filter, global vision, security controlCopyright © 2017 Universitas Ahmad Dahlan. All rights reserved. IntroductionSafety control strategy must be taken to avoid the collision between the moving robot and the operators in the working space [1]. Strategies used in safe human-robot collaboration (HRC) can be broadly divided into two categories: pre-collision strategy [2-4] and post-collision strategy [5]. The former strategy detects the danger before the collision and takes measures to prevent imminent collision. While the latter one requires higher real-time performance during the collision to suppress the impact force, and ensure the security of operators and robots. Therefore, pre-collision methods can normally achieve safer result in implementation of HRC. Researchers have been working on different pre-collision methods and presenting some important findings and solutions. As one of the pre-collision methods, sensors, such as ultrasonic [6] and photoelectric sensors, are installed on the robot to detect the man-machine position. The sensors identify the danger and then the robots will be immediately stopped. Such security strategy is very simple, and greatly reduce the reliability of collision avoidance and the work efficiency of the robot.The robot should follow the collision avoidance strategy at all run time. A more reliable safety strategy is essential. Sanderud [7] have presented proactive safety strategy based on a quantified measure of risk for human robot collaboration. The risk field is established based on an analysis of the human's movement and the consequence of a collision with different human limbs, combined with a likelihood analysis. Similarly, a simulation tool using real-world geometrical data was proposed to investigate different algorithms and safety strategies [8]. Kulić [9, 10] suggested a method of robot safe trajectory planning based on the mechanical principle of the minimizing danger index. However, the application of this method is limited by the large number of environmental data required.One of the most common and useful technologies used to detect intruding obstacles is robot vision. The robot vision has been developed in recent years, and could be a feasible solution in the collision avoidance strategy. A robot manipulator automatic path planning strategy based on 3D-TOF sensor was presented in peg-in-hole assembly process [11]. Similarly, a two fold strategy was presented to automatically generate safe path for robot trajectory based on data from TOF sensor [12]. Kuhn [13] used monocular vision to measure the human-robot distance in manipulator space and thus identified the risk. Yet this method is not conducive to th...

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Design and Control of a Bio-inspired Human-friendly Robot

Cited by 100 publications

References 35 publications

Elastomeric Origami: Programmable Paper‐Elastomer Composites as Pneumatic Actuators

Elastomeric Origami: Programmable Paper‐Elastomer Composites as Pneumatic Actuators

Modeling, Control, and Numerical Simulations of a Novel Binary-Controlled Variable Stiffness Actuator (BcVSA)

A Robot Collision Avoidance Method Using Kinect and Global Vision

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