Wolf, Sebastian und Hofmann, Cynthia und Bahls, Thomas und Maurenbrecher, Henry und Pleintinger, Benedikt (2024) Modularity in Humanoid Robot Design for Flexibility in System Structure and Application. In: 22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023. IEEE. 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 2023-12-12 - 2023-12-14, Austin, TX, USA. doi: 10.1109/Humanoids57100.2023.10375175. ISBN 979-835030327-8. ISSN 2164-0572.
PDF
1MB |
Offizielle URL: https://ieeexplore.ieee.org/document/10375175
Kurzfassung
In this work we present the modularity aspect in the development of neoDavid, a robust humanoid robot with dexterous manipulation skills. We highlight the benefits of modularity in humanoid robot design for flexible service robotic applications. Our modular approach to system development begins with the system architecture and extends through the mechatronics, connectivity, and control components to the higher-level software and applications that match the growing system architecture. We show how the modularity scales and how it was used to gradually expand the system from an arm and hand to a full humanoid upper body on wheels. The modularity allowed us to adapt our system to changing needs as our focus shifted from technology basics to skills and finally to applications in the human environment with human tools.
elib-URL des Eintrags: | https://elib.dlr.de/202909/ | ||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Poster) | ||||||||||||||||||||||||
Titel: | Modularity in Humanoid Robot Design for Flexibility in System Structure and Application | ||||||||||||||||||||||||
Autoren: |
| ||||||||||||||||||||||||
Datum: | 1 Januar 2024 | ||||||||||||||||||||||||
Erschienen in: | 22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023 | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||
DOI: | 10.1109/Humanoids57100.2023.10375175 | ||||||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||||||
ISSN: | 2164-0572 | ||||||||||||||||||||||||
ISBN: | 979-835030327-8 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Robots, system design, modularity, humanoid robots, variable stiffness actuators | ||||||||||||||||||||||||
Veranstaltungstitel: | 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids) | ||||||||||||||||||||||||
Veranstaltungsort: | Austin, TX, USA | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 12 Dezember 2023 | ||||||||||||||||||||||||
Veranstaltungsende: | 14 Dezember 2023 | ||||||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik, R - Mehrfingrige Roboterhände [RO], R - Mechatronik [RO] | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) Institut für Robotik und Mechatronik (ab 2013) > Mechatronische Systeme | ||||||||||||||||||||||||
Hinterlegt von: | Wolf, Dipl.-Ing. Sebastian | ||||||||||||||||||||||||
Hinterlegt am: | 22 Feb 2024 10:33 | ||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 21:03 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags