01483nas a2200193   4500008004100000245006500041210006400106260003300170300001400203490000700217520082500224653004401049653001301093100001601106700001501122700001501137700003501152856010201187       2006                        eng d00aOptimal Mechanical/Control Design for Safe and Fast Robotics0 aOptimal MechanicalControl Design for Safe and Fast Robotics  bSpringer Berlin / Heidelberg  a311 - 3200 v213 a<p>The problem to ensure safety of performant robot arms during task execution was previously investigated by authors. The problem can be approached by studying an optimal control policy, the "Safe Brachistocrone", whose solutions are joint impedance trajectories coordinated with desired joint velocities. Transmission stiffness is chosen so as to achieve minimum-time task execution for the robot, while guaranteeing an intrinsic safety level in case of an unexpected collision between a link of the arm and a human operator. In this paper we extend this approach to more general classes of robot actuation systems, whereby other impedance parameters beside stiffness (such as e.g. joint damping and/or plasticity) can vary. We report on a rather extensive experimental campaign validating the proposed approach.</p>
10aPhysical Human-Robot Interaction (pHRI)10aRobotics1 aTonietti, G1 aSchiavi, R1 aBicchi, A.1 aMarcelo H. Ang, Oussama Khatib  uhttp://118699.obes.asia/publications/optimal-mechanicalcontrol-design-safe-and-fast-robotics.html