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An Anthropomorphic Robust Robotic Torso forVentral/Dorsal and Lateral Motion WithWeight Compensation

Reinecke, Jens and Deutschmann, Bastian and Dietrich, Alexander and Hutter, Marco (2020) An Anthropomorphic Robust Robotic Torso forVentral/Dorsal and Lateral Motion WithWeight Compensation. IEEE Robotics and Automation Letters, 5 (3), pp. 3876-3883. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.2983386. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/abstract/document/9050912


The human torso is known to be highly versatile and dexterous in terms of motion capabilities and dynamic performance. Motivated by the human counterpart, we present the development of a new anthropomorphic robotic torso with comparable workspace, torques, velocities for running, and high level of mechanical robustness. In order to support large loads in ventral and lateral direction a parallel structure of actuation with tendons and a weight compensation via a spring mechanism is introduced into the system. That way, motors can be considerably downsized, which is, in turn, beneficial in terms of the dynamic characteristics of the torso. Robustness to withstand severe impacts is achieved through a clutch-based mechanism in the tendon pulleys. The entire mechanism is experimentally validated in various experiments and will be integrated as component of the compliant humanoid robot David of the DLR.

Item URL in elib:https://elib.dlr.de/139155/
Document Type:Article
Title:An Anthropomorphic Robust Robotic Torso forVentral/Dorsal and Lateral Motion WithWeight Compensation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Reinecke, JensJens.Reinecke (at) dlr.dehttps://orcid.org/0000-0001-9256-0766
Deutschmann, Bastianbastian.deutschmann (at) dlr.dehttps://orcid.org/0000-0002-9139-5719
Dietrich, AlexanderAlexander.Dietrich (at) dlr.dehttps://orcid.org/0000-0003-3463-5074
Date:July 2020
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/LRA.2020.2983386
Page Range:pp. 3876-3883
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Series Name:IEEE
Keywords:Torso, Tendons, Robots, Springs, Actuators, Task analysis, Robustness
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 - Vorhaben Robotdynamik & Simulation (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Deutschmann, Bastian
Deposited On:07 Dec 2020 11:03
Last Modified:07 Dec 2020 11:03

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