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A long-lasting goal of robotics research is to operate robots safely, whileachieving high performance which often involves fast motions. Traditionalmotor-driven systems frequently struggle to balance these competing demands.Addressing this trade-off is crucial for advancing fields such as manufacturingand healthcare, where seamless collaboration between robots and humans isessential. We introduce a four degree-of-freedom (DoF) tendon-driven robot arm,powered by pneumatic artificial muscles (PAMs), to tackle this challenge. Ournew design features low friction, passive compliance, and inherent impactresilience, enabling rapid, precise, high-force, and safe interactions duringdynamic tasks. In addition to fostering safer human-robot collaboration, theinherent safety properties are particularly beneficial for reinforcementlearning, where the robot's ability to explore dynamic motions without causingself-damage is crucial. We validate our robotic arm through variousexperiments, including long-term dynamic motions, impact resilience tests, andassessments of its ease of control. On a challenging dynamic table tennis task,we further demonstrate our robot's capabilities in rapid and precise movements.By showcasing our new design's potential, we aim to inspire further research onrobotic systems that balance high performance and safety in diverse tasks. Ouropen-source hardware design, software, and a large dataset of diverse robotmotions can be found at https://webdav.tuebingen.mpg.de/pamy2/.

A Robust Open-source Tendon-driven Robot Arm for Learning Control of Dynamic Motions