Design and Control of a Bio-inspired Human-Friendly Robot

  • Dongjun Shin
  • Irene Sardellitti
  • Yong-Lae Park
  • Oussama Khatib
  • Mark Cutkosky
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 54)


The increasing demand for physical interaction between humans and robots has led to the development of robots that guarantee safe behavior when human contact occurs. However, attaining established levels of performance while ensuring safety poses formidable challenges in mechanical design, actuation, sensing and control. To achieve safety without compromising performance, the human-friendly robotic arm has been developed using the concept of hybrid actuation. The new design employs inherently-safe pneumatic artificial muscles augmented with small electrical actuators, human-bone-inspired robotic links, and newly designed distributed compact pressure regulators with proportional valves. The experimental results show that significant performance improvement that can be achieved with hybrid actuation over a system with pneumatic artificial muscles alone. The paper evaluates the safety of the new robot arm and demonstrates that the safety characteristics surpass those of previous human-friendly robots.


Force Control Force Feedback Selective Laser Sinter Proportional Valve Control Bandwidth 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Dongjun Shin
    • 1
  • Irene Sardellitti
    • 3
  • Yong-Lae Park
    • 2
  • Oussama Khatib
    • 1
  • Mark Cutkosky
    • 2
  1. 1.Artificial Intelligence LaboratoryStanford UniversityUSA
  2. 2.Mechanical EngineeringStanford UniversityUSA
  3. 3.ARTS Lab.Scuola Superiore Sant’AnnaItaly

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