The DLR Hand Arm System
An anthropomorphic hand arm system using variable stiffness actuation has been developed at DLR. It is aimed to reach its human archetype regarding size, weight and performance. The main focus of our development is put on robustness, dynamic performance and dexterity. Therefore, a paradigm change from impedance controlled, but mechanically stiff joints to robots using intrinsic variable compliance joints is carried out. Collisions of the rigid joint robot at high speeds with stiff objects induce the energy too fast for an active controller to prevent damages. In contrast, passively compliant robots are able to temporarily store energy. In this case the resulting internal forces applied to the robot structure and the drive trains are reduced. Furthermore, the energy storage allows to outperform the dynamics of stiff robots. The hand drives and the electronics are completely integrated within the forearm. Extremely miniaturized electronics have been developed to drive the 52 motors of the system and interface their sensors. Several variable stiffness actuation principles used in the arm joints and the hand are presented. The paper highlights the different requirements that they have to fulfill. A first test of the systems robustness and dynamics has been performed by driving nails with a grasped hammer and is demonstrated in the attached video.
Markus Grebenstein Robert Haslinger Hannes H(o)ppner Stefan J(o)rg Mathias Nickl Alexander Nothhelfer Florian Petit Josef Reill Nikolaus Seitz Thomas Wimb(o)ck Sebastian Wolf Alin Albu-Sch(a)ffer Tilo W(u)sthoff Gerd Hirzinger Thomas Bahls Maxime Chalon Oliver Eiberger Werner Friedl Robin Gruber Sami Haddadin Ulrich Hagn
Institute of Robotics and Mechatronics,German Aerospace Center,Germany
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3175-3182
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）