agonistic actuation with variable stiffness is proposed for ensuring safety and performance in human friendly robotic applications. Various arrangements are anal- ysed with respect to performance, safety and dependability. The results are expected to provide useful guidelines for choosing an actuation mechanism and its implementation for human-robot interactive applications.
Variable Impedance Actuations for Physical Human Cooperating Robots: a Comparative Analysis of Performance, Safety and Dependability
BICCHI, ANTONIO
2007-01-01
Abstract
agonistic actuation with variable stiffness is proposed for ensuring safety and performance in human friendly robotic applications. Various arrangements are anal- ysed with respect to performance, safety and dependability. The results are expected to provide useful guidelines for choosing an actuation mechanism and its implementation for human-robot interactive applications.File in questo prodotto:
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