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Mechanisms and Design of DLR Humanoid Robots

Ott, Christian and Roa Garzon, Máximo Alejandro and Schmidt, Florian and Friedl, Werner and Englsberger, Johannes and Burger, Robert and Werner, Alexander and Dietrich, Alexander and Leidner, Daniel and Henze, Bernd and Eiberger, Oliver and Beyer, Alexander and Bäuml, Berthold and Borst, Christoph and Albu-Schäffer, Alin (2017) Mechanisms and Design of DLR Humanoid Robots. In: Humanoid Robotics: A Reference Living reference work. Springer Science + Business Media. pp. 1-26. doi: 10.1007/978-94-007-7194-9_132-1. ISBN 978-94-007-7194-9.

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Official URL: https://link.springer.com/referenceworkentry/10.1007/978-94-007-7194-9_132-1

Abstract

This chapter provides an overview on the development process from lightweight manipulators toward anthropomorphic humanoid robots at the German Aerospace Center - DLR. The technological basis for these robots is a modular drive concept based on a tight mechatronic integration of brushless DC motors, harmonic drive gears, and link-side joint torque sensors. The feedback of the joint torque allows to generate a back-drivable behavior, which facilitates the implementation of highly sensitive impedance controllers. Compliant control is the basis for safe and dependable operation of these robots during physical interaction with the environment and with humans. This chapter summarizes the mechatronic design concepts as well as the basic control and planning strategies of two torque-controlled humanoid robots developed at DLR, the wheeled robot Rollin' Justin, and the biped robot Toro.

Item URL in elib:https://elib.dlr.de/117861/
Document Type:Book Section
Title:Mechanisms and Design of DLR Humanoid Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Roa Garzon, Máximo AlejandroUNSPECIFIEDhttps://orcid.org/0000-0003-1708-4223UNSPECIFIED
Schmidt, FlorianUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Friedl, WernerUNSPECIFIEDhttps://orcid.org/0000-0003-3002-7274UNSPECIFIED
Englsberger, JohannesUNSPECIFIEDhttps://orcid.org/0000-0002-8117-2650UNSPECIFIED
Burger, RobertUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Werner, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-0766-2245UNSPECIFIED
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074UNSPECIFIED
Leidner, DanielUNSPECIFIEDhttps://orcid.org/0000-0001-5091-7122UNSPECIFIED
Henze, BerndUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Eiberger, OliverUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Beyer, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-2501-0814UNSPECIFIED
Bäuml, BertholdUNSPECIFIEDhttps://orcid.org/0000-0002-4545-4765UNSPECIFIED
Borst, ChristophUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:August 2017
Journal or Publication Title:Humanoid Robotics: A Reference
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI:10.1007/978-94-007-7194-9_132-1
Page Range:pp. 1-26
Editors:
EditorsEmailEditor's ORCID iDORCID Put Code
Goswami, AmbarishUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Vadakkepat, PrahladUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Publisher:Springer Science + Business Media
Series Name:Living reference work
ISBN:978-94-007-7194-9
Status:Published
Keywords:Humanoid Robots
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Walking Robotics/Locomotion [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Ott, Dr. Christian
Deposited On:28 Mar 2023 15:46
Last Modified:28 Mar 2023 15:48

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