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Intrinsically Elastic Robots: the Key to Human Like Performance

Haddadin, Sami and Huber, Felix and Krieger, Kai and Weitschat, Roman and Albu-Schäffer, Alin and Wolf, Sebastian and Friedl, Werner and Grebenstein, Markus and Petit, Florian and Reinecke, Jens and Lampariello, Roberto (2012) Intrinsically Elastic Robots: the Key to Human Like Performance. In: International Conference on Intelligent Robots and Systems (IROS), pp. 4270-4271. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 7-12 Oct 2012, Vilamoura, Algarve, Portugal. ISBN 978-1-4673-1737-5 ISSN 2153-0858

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Abstract

Intrinsically elastic robots, which technically implement some key characteristics of the human muskoskeletal system, have become a major research topic in nowadays robotics. These novel devices open up entirely new control approaches. They base on temporary storage of potential energy and its timed transformation into kinetic energy. In legged locomotion, such considerations have been a common tool for unveiling the respective fundamental physical processes. However, in arm control, elasticities were typically considered parasitic. In this video we outline our efforts in exploiting the inherent capabilities of intrinsically elastic robots in order to bring them closer to human performance. Instead of applying purely kinematic learing-by-demonstration approaches, which are certainly suboptimal, we argue for using model based techniques in order to optimally exploit the system dynamics such that highly dynamic motion and manipulation capabilities can be achieved. In particular, the explicit use of elasticities as temporary energy tanks can be fully exploited, if they are modeled adequately as an integral part of the mechanism. We also believe that such approaches can substantially contribute to the understanding of human motion biomechanics.

Item URL in elib:https://elib.dlr.de/80679/
Document Type:Conference or Workshop Item (Other)
Title:Intrinsically Elastic Robots: the Key to Human Like Performance
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Haddadin, SamiSami.Haddadin (at) DLR.deUNSPECIFIED
Huber, Felixf.huber (at) dlr.deUNSPECIFIED
Krieger, Kai Kai.Krieger (at) dlr.deUNSPECIFIED
Weitschat, Romanroman.weitschat (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Wolf, SebastianSebastian.Wolf (at) DLR.deUNSPECIFIED
Friedl, Wernerwerner.friedl (at) dlr.deUNSPECIFIED
Grebenstein, Markus Markus.Grebenstein (at) dlr.deUNSPECIFIED
Petit, FlorianFlorian.Petit (at) dlr.deUNSPECIFIED
Reinecke, Jensjens.reinecke (at) dlr.deUNSPECIFIED
Lampariello, RobertoRoberto.Lampariello (at) dlr.deUNSPECIFIED
Date:October 2012
Journal or Publication Title:International Conference on Intelligent Robots and Systems (IROS)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 4270-4271
ISSN:2153-0858
ISBN:978-1-4673-1737-5
Status:Published
Keywords:Aerodynamics , Elasticity , Energy storage , Humans , Joints , Robots
Event Title:2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Vilamoura, Algarve, Portugal
Event Type:international Conference
Event Dates:7-12 Oct 2012
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Parusel, Sven
Deposited On:15 Jan 2013 15:51
Last Modified:31 Jul 2019 19:39

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