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Anthropomorphic Soft Robotics - from Torque Control to Variable Intrinsic Compliance

Albu-Schäffer, Alin and Eiberger, Oliver and Fuchs, Matthias and Grebenstein, Markus and Haddadin, Sami and Ott, Christian and Stemmer, Andreas and Wimböck, Thomas and Wolf, Sebastian and Borst, Christoph and Hirzinger, Gerd (2011) Anthropomorphic Soft Robotics - from Torque Control to Variable Intrinsic Compliance. In: Springer-Verlag Berlin Heidelberg. pp. 185-203.



The paper gives an overview on the developments at the German Aerospace enter DLR towards anthropomorphic robots which not only try to approach the force and velocity performance of humans, but also have similar safety and robustness features based on a compliant behaviour. We achieve this compliance either by joint torque sensing and impedance control, or, in our newest systems, by compliant mechanisms (so called VIA - variable impedance actuators), whose intrinsic compliance can be adjusted by an additional actuator. Both approaches required highly integrated mechatronic design and advanced, nonlinear control and planning strategies, which are presented in this paper.

Item URL in elib:https://elib.dlr.de/73959/
Document Type:Contribution to a Collection
Title:Anthropomorphic Soft Robotics - from Torque Control to Variable Intrinsic Compliance
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Albu-Schäffer, AlinAlin.Albu-Schäffer (at) dlr.deUNSPECIFIED
Eiberger, OliverOliver.Eiberger (at) dlr.deUNSPECIFIED
Fuchs, MatthiasMatthias.Fuchs (at) dlr.deUNSPECIFIED
Grebenstein, MarkusMarkus.Grebenstein (at) dlr.deUNSPECIFIED
Haddadin, SamiSami.Haddadin (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Stemmer, AndreasAndreas.Stemmer (at) dlr.deUNSPECIFIED
Wimböck, ThomasThomas.Wimboeck (at) dlr.deUNSPECIFIED
Wolf, SebastianSebastian.Wolf (at) dlr.deUNSPECIFIED
Borst, ChristophChristoph.Borst (at) dlr.deUNSPECIFIED
Hirzinger, GerdGerd.Hirzinger (at) dlr.deUNSPECIFIED
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 185-203
Publisher:Springer-Verlag Berlin Heidelberg
Keywords:Elastische Roboter, Soft-robotics, Impedanzregelung, Kollisionsdetektion, Variable Impedance Actuation, Humanoide Roboter, Roboterassistenten
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Beinhofer, Gabriele
Deposited On:20 Jan 2012 12:56
Last Modified:31 Jul 2019 19:34

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