The Safety of a Robot Actuated by Pneumatic Muscles—A Case Study

Damme, Michaël Van; Beyl, Pieter; Vanderborght, Bram; Versluys, Rino; Ham, Ronald Van; Vanderniepen, Innes; Daerden, F.; Lefeber, Dirk

doi:10.1007/s12369-009-0042-2

Cited by 33 publications

(20 citation statements)

References 62 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Therefore, the convergence of actual and predicted pressure occurs smoothly and without overshoot. A well-known concern with PAM-based systems is undesired energy storage in the form of spring force when the system is deflected from its equilibrium [42,43]. However, the feedforward controller presented in this study is able to respond safely to abrupt changes in deflection and payload.…”

Section: Experimental Analysis Of Feedforward Gainmentioning

confidence: 92%

Control of a Heavy-Lift Robotic Manipulator with Pneumatic Artificial Muscles

2014

View full text Add to dashboard Cite

Lightweight, compliant actuators are particularly desirable in robotic systems intended for interaction with humans. Pneumatic artificial muscles (PAMs) exhibit these characteristics and are capable of higher specific work than comparably-sized hydraulic actuators and electric motors. The objective of this work is to develop a control algorithm that can smoothly and accurately track the desired motions of a manipulator actuated by pneumatic artificial muscles. The manipulator is intended for lifting humans in nursing assistance or casualty extraction scenarios; hence, the control strategy must be capable of responding to large variations in payload over a large range of motion. The present work first investigates the feasibility of two output feedback controllers (proportional-integral-derivative and fuzzy logic), but due to the limitations of pure output feedback control, a model-based feedforward controller is developed and combined with output feedback to achieve improved closed-loop performance. The model upon which the controller is based incorporates the internal airflow dynamics, the physical parameters of the pneumatic muscles and the manipulator dynamics. Simulations were performed in order to validate the control algorithms, guide controller design and predict optimal gains. Using real-time interface software and hardware, the controllers were implemented and experimentally tested on the manipulator, demonstrating the improved capability.

show abstract

Section: Experimental Analysis Of Feedforward Gainmentioning

confidence: 92%

Control of a Heavy-Lift Robotic Manipulator with Pneumatic Artificial Muscles

2014

View full text Add to dashboard Cite

show abstract

“…Based on the HIC, there are various investigations of collisions considering a multitude of different configurations. Blunt impacts are investigated (Haddadin et al, 2008;Park and Song, 2009), singularity poses of robot arms are examined (Haddadin et al, 2010), or pneumatic actuated robot arms are taken into account (Damme et al, 2010). Further investigations are concerned with material properties, shape, acceptable velocity of the robot, and so forth (Wassink and Stramigioli, 2007), to mention only few.…”

Section: Determining the Injury Potential Of Collisionsmentioning

confidence: 99%

Safety of Autonomous Cognitive-oriented Robots

Ertle¹

2015

Künstl Intell

View full text Add to dashboard Cite

Service robots shall very soon autonomously provide services in all spheres of life. They have to execute demanding and complex tasks in a dynamic environment, collaborate with human users in a natural and intuitive way and adapt themselves to varying conditions. It can be assumed that complex robots have to be able to learn, if they shall be able to provide complex tasks in unstructured environments in an autonomous fashion. The capability to 'act autonomously' is often mentioned in conjunction with robots, however, the perception and understanding of the term autonomy varies among the different research fields. Therefore, a closer look is taken at robot autonomy and intelligence, in particular, with regard to current and future robots. From this perspective, implications for safety are derived concerning safe autonomous behavior.In order to push forward the robot safety in the light of safe behavior in complex environments, a novel classification of robot hazards is provided. Based on this, the so-called object interaction hazards are derived which arise when objects that are, for instance, located in the near environment, interact with objects that are manipulated by a robot. Taking into account the current state-of-the-art, it can be stated that this denotes a novel problem area. This problem area is so far addressed neither in current research work, nor in the relevant standards.The new type of hazards can be assigned to a group of hazards that originate from the interaction with a complex and unstructured environment. In order to sufficiently consider the environment and operation context, the robot has to be aware of it. In the field of cognitive (technical and biological) systems, this key capability can be called 'situation awareness ' (cf. Söffker, 2008). Based on Endsley (1995)'s definition of situation awareness, Wardziński (2008) proposes the 'dynamic risk assessment' approach, which shall enable the robot perceive the risk of current and upcoming situations. In order to realize such a risk-aware planning system for the first time, dynamic risk assessment is integrated within a cognitive architecture in order to utilize cognitive functions, such as anticipation, planning and learning. Here, the so-called action spaces (sets of possible upcoming situations) are dynamically anticipated within the underlying cognitive architecture, and a risk assessment component assesses them with regard to comprised risks. Thus, the generated risk information can be utilized for a risk-aware action planning. The proper operation of this integrating concept is demonstrated via simulations and with a robot experiment.In order to consider (object interaction) hazards by means of dynamic risk assessment, (initial) knowledge about hazards is required. Thus, a novel procedural model is developed for systematically generating a safety knowledge base. In this connection, the concept is to formalize risk models (risk description rules) in a generalized manner so that they remain valid for future, and so far unknown si...

show abstract

“…5 (left middle) is the moment of maximum force at ≈ 1.2 s. The first approximation gives t 0 = π/(2ω 2 ) ≈ 1.0401 s, pointing out the importance of this consecutive Newton iteration. 3 Generally, we have center and steepness, while we are searching for the asymptote.…”

Section: ) Separation Criterionmentioning

confidence: 99%

“…The proposed designs for establishing joint elasticity range from series elastic actuation [1], pneumatic muscles [2], [3], [4] to variable stiffness actuation (VSA) [5], [6], [7], [8], [9], [10], [4], [11], [12]. Gradually, this actuation technology was also used as a basis for full robotic systems [13], [11], [14], [15], [16], [17].…”

Section: Introductionmentioning

confidence: 99%

On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level

Haddadin

Krieger

Mansfeld

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

Designing intrinsically elastic robot systems, making systematic use of their properties in terms of impact decoupling, and exploiting temporary energy storage and release during excitative motions is becoming an important topic in nowadays robot design and control. In this paper we treat two distinct questions that are of primary interest in this context. First, we elaborate an accurate estimation of the maximum contact force during simplified human/obstacle-robot collisions and how the relation between reflected joint stiffness, link inertia, human/obstacle stiffness, and human/obstacle inertia affect it. Overall, our analysis provides a safety oriented methodology for designing intrinsically elastic joints and clearly defines how its basic mechanical properties influence the overall collision behavior. This can be used for designing safer and more robust robots. Secondly, we provide a closed form solution of reaching maximum link side velocity in minimum time with an intrinsically elastic joint, while keeping the maximum deflection constraint. This gives an analytical tool for determining suitable stiffness and maximum deflection values in order to be able to execute desired optimal excitation trajectories for explosive motions.

show abstract

The Safety of a Robot Actuated by Pneumatic Muscles—A Case Study

Cited by 33 publications

References 62 publications

Control of a Heavy-Lift Robotic Manipulator with Pneumatic Artificial Muscles

Control of a Heavy-Lift Robotic Manipulator with Pneumatic Artificial Muscles

Safety of Autonomous Cognitive-oriented Robots

On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level

Contact Info

Product

Resources

About