Towards a personal robotics development platform: Rationale and design of an intrinsically safe personal robot

—The most critical challenge for Personal Robotics is to manage the issue of human safety and yet provide the physical capability to perform useful work. This paper describes a novel concept for a mobile, 2-armed, 25-degree-offreedom system with backdrivable joints, low mechanical impedance, and a 5 kg payload per arm. System identification, design safety calculations and performance evaluation studies of the first prototype are included, as well as plans for a future development.

• Type: Conference
• Year: 2008
• Where: ICRA
• Authors: Keenan A. Wyrobek, Eric H. Berger, H. F. Machiel Van der Loos, J. Kenneth Salisbury
• Keywords: Design Safety Calculations, ICRA 2008, Low Mechanical Impedance, Performance Evaluation Studies, Robotics