Abstract
In recent years, many successful robotic manipulator designs have been introduced. However, there remains the challenge of designing a manipulator that possesses the inherent safety characteristics necessary for human-centered robotics. In this paper, we describe recent developments in low impedance actuation that have allowed for improvements in the safety characteristics of human-centered manipulators. In addition, the control challenges unique to the use of low impedance actuation are discussed along with possible control strategies for their successful implementation.
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© 2003 Springer-Verlag Berlin Heidelberg
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Zinn, M., Khatib, O., Roth, B., Salisbury, J.K. (2003). Actuation Methods For Human-Centered Robotics and Associated Control Challenges. In: Bicchi, A., Prattichizzo, D., Christensen, H.I. (eds) Control Problems in Robotics. Springer Tracts in Advanced Robotics, vol 4. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36224-X_7
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DOI: https://doi.org/10.1007/3-540-36224-X_7
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