Research paper

Playing it safe · Reducing reflected inertia through distributed actuation

DM2 places major actuation at the base and adds small joint actuators for fast torque response. A two-axis prototype and simulations examine effective inertia, impact loads and tracking performance.

Reviewed 2026-11-05 · Source and bibliography checked

Bibliographic details and the editorial overview were checked against the original source. Access conditions and editions are identified with the source.

Original title: Playing it safe
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Authors: M. Zinn, O. Khatib, B. Roth, J.K. Salisbury
DOI: 10.1109/mra.2004.1310938
Publication date: 2004-06
Source language: en
Edition: IEEE Robotics & Automation Magazine; 2004-06; DOI 10.1109/mra.2004.1310938
Access: Publisher metadata and open author manuscript
Publication status: Published

Related resources and engineering notes

Turn each safety function into evidence

Source overview

DM2 places major actuation at the base and adds small joint actuators for fast torque response. A two-axis prototype and simulations examine effective inertia, impact loads and tracking performance.

Use and review

Author design/evaluation sections and bibliography checked. Reduced inertia and impact in one prototype do not establish whole-robot injury or fault safety.

Sources & editions

Playing it safe ↗

Institute of Electrical and Electronics Engineers (IEEE) · IEEE Robotics & Automation Magazine; 2004-06; DOI 10.1109/mra.2004.1310938

IEEE RAM2004-06 author copy https://khatib.stanford.edu/publications/pdfs/Zinn_2004_RA.pdf; prototype and DM2 evaluation sections.