TY - GEN
T1 - The DLR hand arm system
AU - Grebenstein, Markus
AU - Albu-Schäffer, Alin
AU - Bahls, Thomas
AU - Chalon, Maxime
AU - Eiberger, Oliver
AU - Friedl, Werner
AU - Gruber, Robin
AU - Haddadin, Sami
AU - Hagn, Ulrich
AU - Haslinger, Robert
AU - Höppner, Hannes
AU - Jörg, Stefan
AU - Nickl, Mathias
AU - Nothhelfer, Alexander
AU - Petit, Florian
AU - Reill, Josef
AU - Seitz, Nikolaus
AU - Wimböck, Thomas
AU - Wolf, Sebastian
AU - Wüsthoff, Tilo
AU - Hirzinger, Gerd
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84871674723&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980371
DO - 10.1109/ICRA.2011.5980371
M3 - Conference contribution
AN - SCOPUS:84871674723
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3175
EP - 3182
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -