TY - CONF T1 - Physical Human-Robot Interaction: Dependability, Safety, and Performance T2 - Proc. 10th Intl. Workshop Advanced Motion Control Y1 - 2008 A1 - A. Bicchi A1 - M. Bavaro A1 - G. Boccadamo A1 - D. De Carli A1 - R. Filippini A1 - G. Grioli A1 - M. Piccigallo A1 - A. Rosi A1 - R. Schiavi A1 - S. Sen A1 - G. Tonietti KW - Embedded Control KW - Physical Human-Robot Interaction (pHRI) KW - Robotics AB -

In this paper we discuss the problem of achieving good performance in accuracy and promptness by a robot manipulator under the condition that safety is guaranteed throughout task execution. Intuitively, while a rigid and powerful structure of the arm would favor its performance, lightweight compliant structures are more suitable for safe operation. The quantitative analysis of the resulting design trade-off between safety and performance has a strong impact on how robot mechanisms and controllers should be designed for human-interactive applications. We discuss few different possible concepts for safely actuating joints, and focus on aspects related to the implementation of the mechanics and control of this new class of robots.

JF - Proc. 10th Intl. Workshop Advanced Motion Control ER - TY - CHAP T1 - Optimization and Fail-Safety Analysis of Antagonistic Actuation for pHRI T2 - European Robotics Symposium 2006 Y1 - 2006 A1 - G. Boccadamo A1 - R. Schiavi A1 - S. Sen A1 - G. Tonietti A1 - A. Bicchi ED - H. Christensen KW - Physical Human-Robot Interaction (pHRI) KW - Robotics AB -

In this paper we consider some questions in the design of actuators for physical Human-Robot Interaction (pHRI) under strict safety requirements in all circumstances, including unexpected impacts and HW/SW failures. We present the design and optimization of agonistic-antagonistic actuation systems realizing the concept of variable impedance actuation (VIA). With respect to previous results in the literature, in this paper we consider a realistic physical model of antagonistic systems, and include the analysis of the effects of cross-coupling between actuators. We show that antagonistic systems compare well with other possible approaches in terms of the achievable performance while guaranteeing limited risks of impacts. Antagonistic actuation systems however are more complex in both hardware and software than other schemes. Issues are therefore raised, as to fault tolerance and fail safety of different actuation schemes. In this paper, we analyze these issues and show that the antagonistic implementation of the VIA concept fares very well under these regards also.

JF - European Robotics Symposium 2006 T3 - Springer Tracts in Advanced Robotics PB - Springer Berlin / Heidelberg VL - 22 ER - TY - CONF T1 - Physical Human-Robot Interaction in Anthropic Domains: Safety and Dependability T2 - Proc. 4th IARP/IEEE-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments Y1 - 2005 A1 - A Albu-Schaeffer A1 - A. Bicchi A1 - G. Boccadamo A1 - R. Chatila A1 - A. De Luca A1 - De Santis, A A1 - G. Giralt A1 - G. Hirzinger A1 - V. Lippiello A1 - R. Mattone A1 - R. Schiavi A1 - B. Siciliano A1 - G. Tonietti A1 - L. Villani KW - Robotics AB -

In this paper we describe the motivations and the aim ofthe EURON-2 research project ``\underline{P}hysical \underline{H}uman-\underline{R}obot \underline{I}nteraction in Anthropic \underline{Dom}ains'' (PRHIDOM). This project, which moves along the lines indicated by the 1$^{st}$ IARP/IEEE-RAS Workshop on Technical Challenge for Dependable Robots in Human Environments \cite{iarp01}, is about ``charting'' the new ``territory'' of physical Human-Robot Interaction (pHRI). To ensure these goals, the integration competences in control, robotics, design and realization of mechanical systems, human-machine interaction, and in safety-dependability of mechatronic systems is required. The PHRIDOM Consortium is composed of 5 partners from 3 different European countries.

JF - Proc. 4th IARP/IEEE-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments ER -