arXiv:1904.03815cs.RO
Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation
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Abstract
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
Very, interesting project! I found it so inspiring that I included it in the Weekly Robotics #34 that is live since 30s ago (https://weeklyrobotics.com/weekly-robotics-34). For anyone interested here is a link to the paper: https://arxiv.org/abs/1904.03815 . Having robotic arms…
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