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A Structurally Flexible Humanoid Spine based on a Tendon-Driven Elastic Continuum

Reinecke, Jens and Deutschmann, Bastian and Fehrenbach, David (2016) A Structurally Flexible Humanoid Spine based on a Tendon-Driven Elastic Continuum. In: IEEE International Conference on Robotics and Automation ICRA, pp. 4714-4721. IEEE. IEEE International Conference on Robotics and Automation, 16.05.2016-21.05.2016, Stockholm, Sweden. DOI: 10.1109/ICRA.2016.7487672

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Official URL: http://ieeexplore.ieee.org/document/7487672/

Abstract

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.

Item URL in elib:https://elib.dlr.de/109889/
Document Type:Conference or Workshop Item (Speech)
Title:A Structurally Flexible Humanoid Spine based on a Tendon-Driven Elastic Continuum
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Reinecke, JensJens.Reinecke (at) dlr.dehttps://orcid.org/0000-0001-9256-0766
Deutschmann, BastianBastian.Deutschmann (at) dlr.deUNSPECIFIED
Fehrenbach, DavidDavid.Fehrenbach (at) dlr.deUNSPECIFIED
Date:May 2016
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
DOI :10.1109/ICRA.2016.7487672
Page Range:pp. 4714-4721
Editors:
EditorsEmail
Okamura, AlisonUNSPECIFIED
Publisher:IEEE
Series Name:Proceedings of the IEEE International Conference on Robotics and Automation
Status:Published
Keywords:Soft Robotics, Humanoids, Tendon-driven
Event Title:IEEE International Conference on Robotics and Automation
Event Location:Stockholm, Sweden
Event Type:international Conference
Event Dates:16.05.2016-21.05.2016
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Deutschmann, Bastian
Deposited On:20 Dec 2016 23:06
Last Modified:28 Oct 2017 19:10

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