Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation
Robots must cost less and be force-controlled to enable widespread, safe deployment in unconstrained human environments. We propose Quasi-Direct Drive actuation as a capable paradigm for robotic force-controlled manipulation in human environments at low-cost. Our prototype - Blue - is a human scale...
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| Veröffentlicht in: | arXiv.org 2019-04 |
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| creator | Gealy, David V McKinley, Stephen Yi, Brent Wu, Philipp Downey, Phillip R Balke, Greg Zhao, Allan Guo, Menglong Thomasson, Rachel Sinclair, Anthony Cuellar, Peter McCarthy, Zoe Abbeel, Pieter |
| description | Robots must cost less and be force-controlled to enable widespread, safe deployment in unconstrained human environments. We propose Quasi-Direct Drive actuation as a capable paradigm for robotic force-controlled manipulation in human environments at low-cost. Our prototype - Blue - is a human scale 7 Degree of Freedom arm with 2kg payload. Blue can cost less than $5000. We show that Blue has dynamic properties that meet or exceed the needs of human operators: the robot has a nominal position-control bandwidth of 7.5Hz and repeatability within 4mm. We demonstrate a Virtual Reality based interface that can be used as a method for telepresence and collecting robot training demonstrations. Manufacturability, scaling, and potential use-cases for the Blue system are also addressed. Videos and additional information can be found online at berkeleyopenarms.github.io |
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| issn | 2331-8422 |
| language | eng |
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| subjects | Actuation Low cost Manufacturability Robots Virtual reality |
| title | Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation |
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