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A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement

Reinecke, Jens and Dietrich, Alexander and Shu, Anton and Deutschmann, Bastian and Hutter, Marco (2021) A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement. IEEE Robotics and Automation Letters, 7 (1), pp. 9-16. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3117245. ISSN 2377-3766.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/abstract/document/9565388


To be operated in unknown or complex environments, modern robots have to fulfill various challenging criteria. Among them, one finds requirements such as a high level of robustness to withstand impacts and the capabilities to physically interact in a safe manner. One way to achieve that is to integrate variable-stiffness actuators into the systems, enabling compliant behavior through the elastic components and providing the additional adaptability of the impedance. Here, we introduce a novel adjustable linear stiffness joint mounted in a differential-elastic arrangement. The mechanism is integrated into the anthropomorphic upper body of the DLR David robot and responsible for the spinal rotation. Consequently, the actuator is crucial for the overall workspace of the robot and the realization of energy-efficient natural motions such as in dynamic running. The proposed hardware setup is experimentally validated in terms of the linearity in the spring characteristics, intrinsic damping, the excitation of resonance frequencies, and the ability to alter these resonance frequencies through stiffness adaptation during dynamic motions.

Item URL in elib:https://elib.dlr.de/146533/
Document Type:Article
Title:A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Reinecke, JensUNSPECIFIEDhttps://orcid.org/0000-0001-9256-0766UNSPECIFIED
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074UNSPECIFIED
Shu, AntonUNSPECIFIEDhttps://orcid.org/0000-0002-8825-6697UNSPECIFIED
Deutschmann, BastianUNSPECIFIEDhttps://orcid.org/0000-0002-9139-5719UNSPECIFIED
Date:8 October 2021
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 9-16
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Compliant joints and mechanisms, humanoid robot systems, mechanism design
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO], R - Mechatronics [RO]
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, Dr. -Ing. Bastian
Deposited On:30 Nov 2021 14:49
Last Modified:30 Nov 2021 14:49

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