CPA-Wrist: Compliant Pneumatic Actuation for Antagonistic Tendon Driven Wrists

Alexander Toedtheide; Sami Haddadin

RA-L 20184 citations

CPA-Wrist: Compliant Pneumatic Actuation for Antagonistic Tendon Driven Wrists

Abstract

In this letter, we propose a new compliant robotics wrist design concept. The system is tendon driven, pneumatically actuated and impedance controlled. We show simulative and experimental results for orientation-based impedance control, human robot interaction with deflection, and collision as well as zero gravity control. Large range point-to-point movements can be performed within 0.5 s and the system stabilizes itself within 0.4 s after external large deflective contacts. Maximum achieved task stiffness are 15 N·m/rad and 0.5 N·m/rad in simulation and experiment, respectively.

BibTeX

@inproceedings{ral2018_cpawristcomplian,
  title = {CPA-Wrist: Compliant Pneumatic Actuation for Antagonistic Tendon Driven Wrists},
  author = {Alexander Toedtheide and Sami Haddadin},
  booktitle = {RA-L 2018},
  year = {2018}
}