Reinecke, Jens und Deutschmann, Bastian und Fehrenbach, David (2016) A Structurally Flexible Humanoid Spine based on a Tendon-Driven Elastic Continuum. In: IEEE International Conference on Robotics and Automation ICRA, Seiten 4714-4721. IEEE. IEEE International Conference on Robotics and Automation, 2016-05-16 - 2016-05-21, Stockholm, Sweden. doi: 10.1109/ICRA.2016.7487672.
![]() |
PDF
- Nur DLR-intern zugänglich
4MB |
Offizielle URL: http://ieeexplore.ieee.org/document/7487672/
Kurzfassung
When working in unknown environments, it is beneficial for robots to be mechanically robust to impacts. To obtain such robustness properties and maintain humanlike performance, strength, workspace and size especially in the upper body, an elastic backbone approach is presented and discussed. Compared to the human spine stabilized by ligaments, intervertebral discs and muscles, we use a continuum mechanism based on silicone and tendons for actuation. The work presents the development of such a mechanism, that could be either used as neck or torso, but concentrates on the cervical part (neck). To prove functionality of the proposed concept, a planar setup was designed and experimental data regarding motion capabilities, robustness and dynamics are presented. With that knowledge, a modular multiple DOF prototype is built which can easily be equipped with different tendon routing and elastic continuum shapes. The results of that final setup will help the mechanical designer to choose the suitable solution for the robotic spine and provides a test bed to develop control strategies for such types of mechanisms.
elib-URL des Eintrags: | https://elib.dlr.de/109889/ | ||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | A Structurally Flexible Humanoid Spine based on a Tendon-Driven Elastic Continuum | ||||||||||||||||
Autoren: |
| ||||||||||||||||
Datum: | Mai 2016 | ||||||||||||||||
Erschienen in: | IEEE International Conference on Robotics and Automation ICRA | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1109/ICRA.2016.7487672 | ||||||||||||||||
Seitenbereich: | Seiten 4714-4721 | ||||||||||||||||
Herausgeber: |
| ||||||||||||||||
Verlag: | IEEE | ||||||||||||||||
Name der Reihe: | Proceedings of the IEEE International Conference on Robotics and Automation | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Soft Robotics, Humanoids, Tendon-driven | ||||||||||||||||
Veranstaltungstitel: | IEEE International Conference on Robotics and Automation | ||||||||||||||||
Veranstaltungsort: | Stockholm, Sweden | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 16 Mai 2016 | ||||||||||||||||
Veranstaltungsende: | 21 Mai 2016 | ||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (alt) | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme Institut für Robotik und Mechatronik (ab 2013) > Mechatronische Komponenten und Systeme | ||||||||||||||||
Hinterlegt von: | Deutschmann, Dr. -Ing. Bastian | ||||||||||||||||
Hinterlegt am: | 20 Dez 2016 23:06 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:15 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags