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The DLR Hand Arm System

Grebenstein, Markus and Albu-Schäffer, Alin and Bahls, Thomas and Chalon, Maxime and Eiberger, Oliver and Friedl, Werner and Gruber, Robin and Haddadin, Sami and Hagn, Ulrich and Haslinger, Robert and Höppner, Hannes and Jörg, Stefan and Nickl, Mathias and Nothhelfer, Alexander and Petit, Florian and Reill, Josef and Seitz, Nikolaus and Wimböck, Thomas and Wolf, Sebastian and Wüsthoff, Tilo and Hirzinger, Gerhard (2011) The DLR Hand Arm System. ICRA 2011, 9.-13.5.2011, Shanghai, China.

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Abstract

An anthropomorphic hand arm system using variable stiffness actuation has been developed at DLR. It is aimed to reach its human archetype regarding size, weight and performance. The main focus of our development is put on robustness, dynamic performance and dexterity. Therefore, a paradigm change from impedance controlled, but mechanically stiff joints to robots using intrinsic variable compliance joints is carried out. Collisions of the rigid joint robot at high speeds with stiff objects induce the energy too fast for an active controller to prevent damages. In contrast, passively compliant robots are able to temporarily store energy. In this case the resulting internal forces applied to the robot structure and the drive trains are reduced. Furthermore, the energy storage allows to outperform the dynamics of stiff robots. The hand drives and the electronics are completely integrated within the forearm. Extremely miniaturized electronics have been developed to drive the 52 motors of the system and interface their sensors. Several variable stiffness actuation principles used in the arm joints and the hand are presented. The paper highlights the different requirements that they have to fulfill. A first test of the systems robustness and dynamics has been performed by driving nails with a grasped hammer and is demonstrated in the attached video.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:The DLR Hand Arm System
Authors:
AuthorsInstitution or Email of Authors
Grebenstein, Markus Markus.Grebenstein@dlr.de
Albu-Schäffer, Alin UNSPECIFIED
Bahls, ThomasUNSPECIFIED
Chalon, Maxime UNSPECIFIED
Eiberger, Oliver UNSPECIFIED
Friedl, Werner UNSPECIFIED
Gruber, Robin UNSPECIFIED
Haddadin, SamiUNSPECIFIED
Hagn, Ulrich UNSPECIFIED
Haslinger, Robert UNSPECIFIED
Höppner, Hannes UNSPECIFIED
Jörg, StefanUNSPECIFIED
Nickl, Mathias UNSPECIFIED
Nothhelfer, AlexanderUNSPECIFIED
Petit, Florian UNSPECIFIED
Reill, JosefUNSPECIFIED
Seitz, NikolausUNSPECIFIED
Wimböck, Thomas UNSPECIFIED
Wolf, Sebastian UNSPECIFIED
Wüsthoff, TiloUNSPECIFIED
Hirzinger, GerhardUNSPECIFIED
Date:11 May 2011
Status:Published
Keywords:Biologically-Inspired Robots; Humanoid Robots; Compliant Joint/Mechanism
Event Title:ICRA 2011
Event Location:Shanghai, China
Event Type:international Conference
Event Dates:9.-13.5.2011
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old), Aeronautics, Space and Transport (old)
HGF - Program:Space (old), Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme, W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space, Space
DLR - Program:W SY - Technik für Raumfahrtsysteme, W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Vorhaben DLR-Leichtbau-Roboter III (old), W - Vorhaben DLR-4-Finger-Hand III (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Dr. sc. Markus Grebenstein
Deposited On:18 Jul 2011 11:05
Last Modified:18 Jul 2011 11:05

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