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
Hauptverfasser:	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
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuation Low cost Manufacturability Robots Virtual reality
Online-Zugang:	Volltext
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