Towards a personal robotics development platform: Rationale and design of an intrinsically safe personal robot

@article{Wyrobek2008TowardsAP,
  title={Towards a personal robotics development platform: Rationale and design of an intrinsically safe personal robot},
  author={Keenan A. Wyrobek and Eric H. Berger and H. F. Machiel Van der Loos and John Kenneth Salisbury},
  journal={2008 IEEE International Conference on Robotics and Automation},
  year={2008},
  pages={2165-2170}
}
The most critical challenge for Personal Robotics is to manage the issue of human safety and yet provide the physical capability to perform useful work. This paper describes a novel concept for a mobile, 2-armed, 25-degree-of- freedom system with backdrivable joints, low mechanical impedance, and a 5 kg payload per arm. System identification, design safety calculations and performance evaluation studies of the first prototype are included, as well as plans for a future development. 
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