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Foundations of Robotics Seminar, April 13, 2010
Time
and Place | Seminar Abstract
Soft Robots for Safe Physical Human Interaction
Siddharth Sanan
Robotics Institute
CMU
NSH 1507
Talk 4:30 pm
In this talk, we present robots that are structurally 'soft'. The key motivation for their development being safe physical human robot interaction. We rethink some of the design paradigms, which are traditionally used in robotics, to address the need for a new breed of robots that can function in human environments and interact with humans safely.The key issue of compliance distribution in soft robots and its effect on safety and performance of a manipulator is discussed. An optimal control-design approach is used to gain insight into the physical characteristics of safe robots. Learning from these insights, two prototype systems: a continuum arm and an inflatable arm are presented. These systems shall be shown involved in close physical human interaction tasks.
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.