Optimization and Fail-Safety Analysis of Antagonistic Actuation for pHRI

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• 作者：Gianluca Boccadamo ; Riccardo Schiavi ; Soumen Sen ; Giovanni Tonietti ; Antonio Bicchi
• 刊名：Springer Tracts in Advanced Robotics
• 出版年：2006
• 出版时间：2006
• 年：2006
• 卷：22
• 期：1
• 页码：pp.109-118
• 全文大小：784 KB

文摘

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.