A Friendly beast of burden : a human-assistive robot for handling large payloads

Authors: Gosselin, ClémentLaliberté, ThierryMayer-St-Onge, BorisFoucault, SimonCampeau-Lecours, AlexandreDuchaine, VincentParadis, Noémie; Gao, Dalong; Menassa, Roland
Abstract: This article presents a novel robotic assistive device for the handling of large payloads. The design of the robot is based on the application of the following fundamental mechanical principles: inertia is minimized, a parallel closed-loop cable/belt routing system is used to kinematically decouple the transmission from fixed actuators and to the end-effector, and variable static balancing is used to minimize the actuation forces required for vertical motion. As a result, the device requires only low power, thereby improving safety, and can be operated manually, even in the event of a power failure (with minimum backup power for brake release). A novel force/torque sensor is also introduced along with a control algorithm based on variable admittance that provides a very intuitive interface for physical human-robot cooperation. Finally, a full-scale prototype integrating all of the above concepts is presented.
Document Type: Article de recherche
Issue Date: 1 November 2013
Open Access Date: Restricted access
Document version: VoR
Permalink: http://hdl.handle.net/20.500.11794/32305
This document was published in: IEEE Robotics & Automation Magazine, Vol. 20 (4), 139–147 (2013)
https://doi.org/10.1109/MRA.2013.2283651
Institute of Electrical and Electronics Engineers
Alternative version: 10.1109/MRA.2013.2283651
Collection:Articles publiés dans des revues avec comité de lecture

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