DLRs zweihändiger humanoide justin: systementwurf, integration und regelung

Thomas Wimböck; Christoph Borst; Alin Albu-Schäffer; Christian Ott; Florian Schmidt; Matthias Fuchs; Werner Friedl; Oliver Eiberger; Andreas Baumann; Alexander Beyer; Gerd Hirzinger

doi:10.1524/auto.2010.0882

DLRs zweihändiger humanoide justin: systementwurf, integration und regelung

Translated title of the contribution: DLR's two-handed humanoid justin: system design, integration and control

Thomas Wimböck, Christoph Borst, Alin Albu-Schäffer, Christian Ott, Florian Schmidt, Matthias Fuchs, Werner Friedl, Oliver Eiberger, Andreas Baumann, Alexander Beyer, Gerd Hirzinger

Deutsches Zentrum für Luft- und Raumfahrt (DLR)

Research output: Contribution to journal › Article › peer-review

3 Scopus citations

Abstract

With the mobile humanoid robot Justin DLR presents a platform capable of sensitive manipulation of everyday objects. The considerations and fundamental design decisions for the mechatronic development of the system are presented. Furthermore, it is shown how the sensory information can be used for passivity-based control. In this way a compliant behavior of the robot in task space can be achieved. This allows for sensitive adjustments to unknown environments. Some exemplary applications and experiments demonstrate how these properties can simplify the programming of such complex robotic systems.

Translated title of the contribution	DLR's two-handed humanoid justin: system design, integration and control
Original language	German
Pages (from-to)	622-629
Number of pages	8
Journal	At-Automatisierungstechnik
Volume	58
Issue number	11
DOIs	https://doi.org/10.1524/auto.2010.0882
State	Published - Nov 2010
Externally published	Yes

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abstract = "With the mobile humanoid robot Justin DLR presents a platform capable of sensitive manipulation of everyday objects. The considerations and fundamental design decisions for the mechatronic development of the system are presented. Furthermore, it is shown how the sensory information can be used for passivity-based control. In this way a compliant behavior of the robot in task space can be achieved. This allows for sensitive adjustments to unknown environments. Some exemplary applications and experiments demonstrate how these properties can simplify the programming of such complex robotic systems.",

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year = "2010",

month = nov,

doi = "10.1524/auto.2010.0882",

language = "Deutsch",

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T2 - systementwurf, integration und regelung

AU - Wimböck, Thomas

AU - Borst, Christoph

AU - Albu-Schäffer, Alin

AU - Ott, Christian

AU - Schmidt, Florian

AU - Fuchs, Matthias

AU - Friedl, Werner

AU - Eiberger, Oliver

AU - Baumann, Andreas

AU - Beyer, Alexander

AU - Hirzinger, Gerd

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KW - Humanoid robot

KW - Impedance control

KW - Mechatronic design

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ER -

DLRs zweihändiger humanoide justin: systementwurf, integration und regelung

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