|Title||Physical Human-Robot Interaction: Dependability, Safety, and Performance |
|Publication Type||Conference Paper |
|Year of Publication||2008 |
|Conference Name||Proc. 10th Intl. Workshop Advanced Motion Control |
|Publication Language||eng |
|Authors||Bicchi, A, Bavaro, M, Boccadamo, G, Carli, DD, Filippini, R, Grioli, G, Piccigallo, M, Rosi, A, Schiavi, R, Sen, S, Tonietti, G |
|Keywords||Embedded Control, Physical Human-Robot Interaction (pHRI), Robotics |
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.