TY - GEN
T1 - Design of an inherently safe worm-like robot
AU - Eder, Martin
AU - Karl, Maximilian
AU - Schulthei, Felix
AU - Schurmann, Johannes
AU - Knoll, Alois
AU - Riesner, Stefan
PY - 2013
Y1 - 2013
N2 - Nowadays robots are disseminated more and more in fields where humans are in the loop. These collaborative modes are always characterized by safety issues, in particular problems regarding compliance in case of contact. Our approach to solve these problems is based on passive compliance, which means that an inherently flexible robotic mechanism is designed driven by pneumatic artificial muscles (PAM). Compared to state of the art robots the novelty here is a completely modular and decentralized setup in terms of both mechanical and control architecture. Main benefit of this new design is expandability and increased precision. This paper presents the design and control of a robot of this kind with 3 segments or rather 6 degrees of freedom (DOF), which proves the novel concept.
AB - Nowadays robots are disseminated more and more in fields where humans are in the loop. These collaborative modes are always characterized by safety issues, in particular problems regarding compliance in case of contact. Our approach to solve these problems is based on passive compliance, which means that an inherently flexible robotic mechanism is designed driven by pneumatic artificial muscles (PAM). Compared to state of the art robots the novelty here is a completely modular and decentralized setup in terms of both mechanical and control architecture. Main benefit of this new design is expandability and increased precision. This paper presents the design and control of a robot of this kind with 3 segments or rather 6 degrees of freedom (DOF), which proves the novel concept.
UR - http://www.scopus.com/inward/record.url?scp=84894147178&partnerID=8YFLogxK
U2 - 10.1109/SSRR.2013.6719321
DO - 10.1109/SSRR.2013.6719321
M3 - Conference contribution
AN - SCOPUS:84894147178
SN - 9781479908806
T3 - 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013
BT - 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013
T2 - 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013
Y2 - 21 October 2013 through 26 October 2013
ER -