2010 Poster Sessions : Design Methodologies of Hybrid Actuation for Human-Friendly Robot.

Student Name : Dongjun Shin
Advisor : Oussama Khatib
Research Areas: Artificial Intelligence
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 promote safety without compromising performance, a human-friendly robotic arm has been developed using the concept of hybrid actuation. Presenting analytical models of the hybrid actuation system, we propose design methodologies to achieve a combination of low impedance and high control bandwidth. The new design employs high-power, low-impedance pneumatic artificial muscles augmented with small electrical actuators, distributed compact pressure regulators with proportional valves, and hollow plastic links. The experimental results show that significant performance improvement can be achieved with hybrid actuation over a system with pneumatic muscles alone. The simulation result of the safety of the new robot arm demonstrates that the safety characteristics surpass those of previous human-friendly robots.

Dongjun Shin is a PhD candidate in Mechanical Engineering at Stanford University. In Artificial Intelligence Lab, he has worked on human-friendly robot design and control with Professor Oussama Khatib. He received his B.S. in Mechanical and Aerospace Engineering in Seoul National University. Prior to joining Stanford, he worked at Time and Space Tech in Korea.