TY - JOUR
T1 - CPA-Wrist
T2 - Compliant pneumatic actuation for antagonistic tendon driven wrists
AU - Toedtheide, Alexander
AU - Haddadin, Sami
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2018/10
Y1 - 2018/10
N2 - In this letter, we propose a new compliant robotics wrist design concept. The system is tendon driven, pneumatically actuated and impedance controlled. We show simulative and experimental results for orientation-based impedance control, human robot interaction with deflection, and collision as well as zero gravity control. Large range point-to-point movements can be performed within 0.5 s and the system stabilizes itself within 0.4 s after external large deflective contacts. Maximum achieved task stiffness are 15 N m/rad and 0.5 N m/rad in simulation and experiment, respectively.
AB - In this letter, we propose a new compliant robotics wrist design concept. The system is tendon driven, pneumatically actuated and impedance controlled. We show simulative and experimental results for orientation-based impedance control, human robot interaction with deflection, and collision as well as zero gravity control. Large range point-to-point movements can be performed within 0.5 s and the system stabilizes itself within 0.4 s after external large deflective contacts. Maximum achieved task stiffness are 15 N m/rad and 0.5 N m/rad in simulation and experiment, respectively.
KW - Compliance and impedance control
KW - hydrau-lic/pneumatic actuators
KW - tendon/wire
UR - http://www.scopus.com/inward/record.url?scp=85063309317&partnerID=8YFLogxK
U2 - 10.1109/LRA.2018.2853802
DO - 10.1109/LRA.2018.2853802
M3 - Article
AN - SCOPUS:85063309317
SN - 2377-3766
VL - 3
SP - 3537
EP - 3544
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 4
M1 - 8408565
ER -