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Soft Robotics: What Cartesian Stiffness can we obtain with Passively Compliant, Uncoupled Joints?

Albu-Schäffer, Alin Olimpiu and Fischer, M. and Schreiber, G. and Schoeppe, F. and Hirzinger, Gerhard (2004) Soft Robotics: What Cartesian Stiffness can we obtain with Passively Compliant, Uncoupled Joints? In: IEEE International Conference on Intelligent Robots and Systems. IROS, International Conference on Intelligent Robots and Systems, 28.09.-02.10.2004, Sendai, Japan. DOI: 10.1109/IROS.2004.1389925

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Abstract

In the field of service robotics, whole arm contact with an unstructured environment or human beings becomes a major issue. Therefore soft robots, which mean robots with passively (or mechanically) compliant joints, become more and more important. In this work we analyze what Cartesian stiffness at the tool center point one can achieve with a passively compliant, redundant robot with variable joint stiffness. We restrict this work to the special case of uncoupled joint stiffness only, as coupling of joint stiffness seems to be mechanically difficult to realize. Finally we discuss a Cartesian controller, which incorporates the compliance of the joints and ensures the correct stiffness behavior also for high displacements from the desired position.

Item URL in elib:https://elib.dlr.de/111581/
Document Type:Conference or Workshop Item (Speech)
Title:Soft Robotics: What Cartesian Stiffness can we obtain with Passively Compliant, Uncoupled Joints?
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Fischer, M.UNSPECIFIEDUNSPECIFIED
Schreiber, G.UNSPECIFIEDUNSPECIFIED
Schoeppe, F.UNSPECIFIEDUNSPECIFIED
Hirzinger, GerhardGerd.Hirzinger (at) dlr.deUNSPECIFIED
Date:28 September 2004
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/IROS.2004.1389925
Status:Published
Keywords:Robot sensing systems, Robot kinematics, Mechanical variables control, Humans, Mechatronics, Displacement control, Force sensors, Torque control, Actuators, Lightweight structures
Event Title:IROS, International Conference on Intelligent Robots and Systems
Event Location:Sendai, Japan
Event Type:international Conference
Event Dates:28.09.-02.10.2004
Organizer:IEEE/RSJ
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 on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:19 May 2017 15:01
Last Modified:31 Jul 2019 20:08

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