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
Abstract
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/ | |||||||||||||||
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Document Type: | Article | |||||||||||||||
Title: | An Anthropomorphic Robust Robotic Torso forVentral/Dorsal and Lateral Motion WithWeight Compensation | |||||||||||||||
Authors: |
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Date: | July 2020 | |||||||||||||||
Journal or Publication Title: | IEEE Robotics and Automation Letters | |||||||||||||||
Refereed publication: | Yes | |||||||||||||||
Open Access: | No | |||||||||||||||
Gold Open Access: | No | |||||||||||||||
In SCOPUS: | Yes | |||||||||||||||
In ISI Web of Science: | Yes | |||||||||||||||
Volume: | 5 | |||||||||||||||
DOI : | 10.1109/LRA.2020.2983386 | |||||||||||||||
Page Range: | pp. 3876-3883 | |||||||||||||||
Publisher: | IEEE - Institute of Electrical and Electronics Engineers | |||||||||||||||
Series Name: | IEEE | |||||||||||||||
ISSN: | 2377-3766 | |||||||||||||||
Status: | Published | |||||||||||||||
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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