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Anthropomorphic Soft Robotics - from Torque Control to Variable Intrinsic Compliance

Albu-Schäffer, Alin and Eiberger, Oliver and Fuchs, Matthias and Grebenstein, Markus and Haddadin, Sami and Ott, Christian and Stemmer, Andreas and Wimböck, Thomas and Wolf, Sebastian and Borst, Christoph and Hirzinger, Gerd (2011) Anthropomorphic Soft Robotics - from Torque Control to Variable Intrinsic Compliance. In: Springer-Verlag Berlin Heidelberg. pp. 185-203.

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The paper gives an overview on the developments at the German Aerospace enter DLR towards anthropomorphic robots which not only try to approach the force and velocity performance of humans, but also have similar safety and robustness features based on a compliant behaviour. We achieve this compliance either by joint torque sensing and impedance control, or, in our newest systems, by compliant mechanisms (so called VIA - variable impedance actuators), whose intrinsic compliance can be adjusted by an additional actuator. Both approaches required highly integrated mechatronic design and advanced, nonlinear control and planning strategies, which are presented in this paper.

Document Type:Contribution to a Collection
Title:Anthropomorphic Soft Robotics - from Torque Control to Variable Intrinsic Compliance
AuthorsInstitution or Email of Authors
Albu-Schäffer, AlinAlin.Albu-Schäffer@dlr.de
Eiberger, OliverOliver.Eiberger@dlr.de
Fuchs, MatthiasMatthias.Fuchs@dlr.de
Grebenstein, MarkusMarkus.Grebenstein@dlr.de
Haddadin, SamiSami.Haddadin@dlr.de
Ott, ChristianChristian.Ott@dlr.de
Stemmer, AndreasAndreas.Stemmer @dlr.de
Wimböck, ThomasThomas.Wimboeck@dlr.de
Wolf, SebastianSebastian.Wolf@dlr.de
Borst, ChristophChristoph.Borst@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Refereed publication:Yes
Page Range:pp. 185-203
Publisher:Springer-Verlag Berlin Heidelberg
Keywords:Elastische Roboter, Soft-robotics, Impedanzregelung, Kollisionsdetektion, Variable Impedance Actuation, Humanoide Roboter, Roboterassistenten
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: Gabriele Beinhofer
Deposited On:20 Jan 2012 12:56
Last Modified:12 Dec 2013 21:33

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