Human-Safe Robotics

Overview

• Artificial Intelligence Lab (Oussama Khatib)
• Biomimetics Dexterous Manipulation Laboratory (Mark Cutkosky)

See What's New

View the Public HSR Site Map (private pages in HSPrivate)

Mailing list: mailto:human-safe-robot@lists.stanford.edu (restricted posting)

* ISER08_stanford_final.pdf:

ProjectRosieII

Sensorized skin Design:

• Ulmen, J., Cutkosky, M. A Robust, Low-Cost and Low-Noise Artificial Skin for Human-Friendly Robots, IEEE ICRA 2010m May 2010.

• D. Shin, I. Sardellitti, Y-L Park, O. Khatib and M.R. Cutkosky, “Design and Control of a Bio-inspired Human-friendly Robot,” International Journal of Robotics Research, Vol. 29, No. 5, 2010, p. 571-584.
• Shin, D., Seitz, F., Khatib, O., and Cutkosky, M.R., "Analysis of Torque Capacities in Hybrid Actuation for Human-Friendly Robot Design," IEEE ICRA 2010, May 2010.
• Shin, D., Khatib, O., Cutkosky, M. Design Methodologies of the Hybrid Actuation Approach for Human-Friendly Robot, IEEE ICRA 2009. Submitted. Final version will be posted after reviews.
• Shin, D., et al. Design and Control of a Bio-Inspired human-Friendly Robot, International Journal of Robotics Research. (This is the extended version of ISER08. Submitted. Final version will be posted after reviews.
• Shin, D., et al. Design and Control of a Bio-Inspired human-Friendly Robot, International Symposium of Experimental Robotics 2008(ISER08).
• Shin, D., Sardellitti, I. and Khatib, O., A Hybrid Actuation Approach for Human-Friendly Robot Design, IEEE ICRA 2008.

Links and Literature

• Zinn, M., Khatib, O., Roth, B., Salisbury, J.K., A New Actuation Approach for Human-friendly Robot Design, International Journal of Robotics Research, 23(4/5) 379-398, April-May 2004.
• Zinn, M., Khatib, O., Roth, B., Salisbury, J.K., Playing it safe (human-friendly robots), Robotics & Automation Magazine, IEEE Volume 11, Issue 2, June 2004 Page(s):12 - 21
• Zinn, M., Khatib, O., Roth, B., Salisbury, J.K., Towards a Human-centered Intrinsically-Safe Robotic Manipulator, IEEE Robotics and Automation Magazine, 11(2) 12-21, June 2004.
• Zinn, M., Khatib, O., Roth, B., Human-Robot Physical Interaction: Design for Safety & Performance, ISRS2005

Embedded fibers in SDM polymer structures:

• OpticalFiberICRA08? - (Private web) notes on ICRA08 paper for finger with embedded optical fiber.(replace with link to IEEE final version when ready).
• Y-L Park, et al., "Force Sensing Smart Robot Fingers using Embedded Fiber Bragg Grating Sensors and Shape Deposition Manufacturing,"? IEEE ICRA07, April 2007.

McKibben Actuators:

• Blake Hannaford's page on McKibben actuators
• Shadow Robotics airmuscles
• C.P. Chou, B. Hannaford, Measurement and Modeling of McKibben Pneumatic Artificial Muscles, IEEE Transactions on Robotics and Automation, vol. 12, pp. 90-102, Feb. 1996.
• ICRA02_Kingsley_Fatigue.pdf: Mckibben actuators and fatigue
• Dan Kingsley's Thesis.pdf: Mostly on the cockroach robot but has some stuff about the Festo actuators, endcap modification, and onboard sensing.

Shape Deposition Manufacturing technology:

• ShapeDepositionManufacturing?

Preexisting "Safe" Robots:

• KUKA Safe Robot

Skin Sensors:

• LiteratureReview

InjuryCriteriaOverview

VariableStiffnessTests

FoamAndTissueCharacterization

Proposals

• GMSafeRobot (private)