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The DLR FSJ: Energy based design of variable stiffness joints

Wolf, Sebastian and Eiberger, Oliver and Hirzinger, Gerd (2011) The DLR FSJ: Energy based design of variable stiffness joints. In: Proc. of the IEEE International Conference on Robotics and Automation 2011, pp. 5082-5089. IEEE. Robotics and Automation (ICRA), 2011 IEEE International Conference on , 9-13 May 2011, Shanghai, China. ISSN 1050-4729

Full text not available from this repository.

Official URL: http://dx.doi.org/10.1109/ICRA.2011.5980303

Abstract

Bringing mechanically compliant joints to robots is in the focus of interest world wide, especially in the humanoid robotics community. Variable Stiffness Joints (VSJ) promise to gain a high performing and robust robotic system. The presented DLR Floating Spring Joint (FSJ) is a VSJ module designed for the first 4 axes of the anthropomorphic DLR Hand Arm System. The DLR Hand Arm System aims to match the skills of its natural archetype. For this purpose, the joints have to be extremely compact to fit into the arm. At the same time they require a high power density in order to approximate the human arm skills. The new DLR FSJ is designed completely from an energy based point of view. This addresses not only energy efficient components and low friction design, but also that the potential energy of the spring is used as good as possible. A demonstration of robustness is given by the investigation of a blunt impact to the tip of the arm.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:The DLR FSJ: Energy based design of variable stiffness joints
Authors:
AuthorsInstitution or Email of Authors
Wolf, Sebastiansebastian.wolf@dlr.de
Eiberger, OliverUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:May 2011
Journal or Publication Title:Proc. of the IEEE International Conference on Robotics and Automation 2011
Page Range:pp. 5082-5089
Publisher:IEEE
ISSN:1050-4729
Status:Published
Keywords:Gears , Joints , Potential energy , Robots , Shape , Springs , Torque , Variable stiffness , VSA
Event Title:Robotics and Automation (ICRA), 2011 IEEE International Conference on
Event Location:Shanghai, China
Event Type:international Conference
Event Dates:9-13 May 2011
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Sebastian Wolf
Deposited On:23 Dec 2011 15:31
Last Modified:23 Dec 2011 15:31

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