Mechanism Design of DLR Humanoid Robots

Christian Ott; Máximo A. Roa; Florian Schmidt; Werner Friedl; Johannes Englsberger; Robert Burger; Alexander Werner; Alexander Dietrich; Daniel Leidner; Bernd Henze; Oliver Eiberger; Alexander Beyer; Berthold Bäuml; Christoph Borst; Alin Albu-Schäffer

doi:10.1007/978-94-007-6046-2_132

Mechanism Design of DLR Humanoid Robots

Christian Ott, Máximo A. Roa, Florian Schmidt, Werner Friedl, Johannes Englsberger, Robert Burger, Alexander Werner, Alexander Dietrich, Daniel Leidner, Bernd Henze, Oliver Eiberger, Alexander Beyer, Berthold Bäuml, Christoph Borst, Alin Albu-Schäffer

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

2 Scopus citations

Abstract

This chapter provides an overview on the development process from lightweight manipulators toward anthropomorphic humanoid robots at the German Aerospace Center – DLR. The technological basis for these robots is a modular drive concept based on a tight mechatronic integration of brushless DC motors, harmonic drive gears, and link-side joint torque sensors. The feedback of the joint torque allows to generate a back-drivable behavior, which facilitates the implementation of highly sensitive impedance controllers. Compliant control is the basis for safe and dependable operation of these robots during physical interaction with the environment and with humans. This chapter summarizes the mechatronic design concepts as well as the basic control and planning strategies of two torque-controlled humanoid robots developed at DLR, the wheeled robot Rollin’ Justin, and the biped robot Toro.

Original language	English
Title of host publication	Humanoid Robotics
Subtitle of host publication	A Reference
Publisher	Springer Netherlands
Pages	637-662
Number of pages	26
ISBN (Electronic)	9789400760462
ISBN (Print)	9789400760455
DOIs	https://doi.org/10.1007/978-94-007-6046-2_132
State	Published - 1 Jan 2018
Externally published	Yes

Keywords

Position-controlled Joints
Torque Sensor
Torque-controlled Light Weight Robot
Variable Impedance Actuators
Wheeled Humanoid Robot

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10.1007/978-94-007-6046-2_132

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title = "Mechanism Design of DLR Humanoid Robots",

abstract = "This chapter provides an overview on the development process from lightweight manipulators toward anthropomorphic humanoid robots at the German Aerospace Center – DLR. The technological basis for these robots is a modular drive concept based on a tight mechatronic integration of brushless DC motors, harmonic drive gears, and link-side joint torque sensors. The feedback of the joint torque allows to generate a back-drivable behavior, which facilitates the implementation of highly sensitive impedance controllers. Compliant control is the basis for safe and dependable operation of these robots during physical interaction with the environment and with humans. This chapter summarizes the mechatronic design concepts as well as the basic control and planning strategies of two torque-controlled humanoid robots developed at DLR, the wheeled robot Rollin{\textquoteright} Justin, and the biped robot Toro.",

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author = "Christian Ott and Roa, {M{\'a}ximo A.} and Florian Schmidt and Werner Friedl and Johannes Englsberger and Robert Burger and Alexander Werner and Alexander Dietrich and Daniel Leidner and Bernd Henze and Oliver Eiberger and Alexander Beyer and Berthold B{\"a}uml and Christoph Borst and Alin Albu-Sch{\"a}ffer",

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doi = "10.1007/978-94-007-6046-2_132",

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AU - Ott, Christian

AU - Roa, Máximo A.

AU - Schmidt, Florian

AU - Friedl, Werner

AU - Englsberger, Johannes

AU - Burger, Robert

AU - Werner, Alexander

AU - Dietrich, Alexander

AU - Leidner, Daniel

AU - Henze, Bernd

AU - Eiberger, Oliver

AU - Beyer, Alexander

AU - Bäuml, Berthold

AU - Borst, Christoph

AU - Albu-Schäffer, Alin

PY - 2018/1/1

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N2 - This chapter provides an overview on the development process from lightweight manipulators toward anthropomorphic humanoid robots at the German Aerospace Center – DLR. The technological basis for these robots is a modular drive concept based on a tight mechatronic integration of brushless DC motors, harmonic drive gears, and link-side joint torque sensors. The feedback of the joint torque allows to generate a back-drivable behavior, which facilitates the implementation of highly sensitive impedance controllers. Compliant control is the basis for safe and dependable operation of these robots during physical interaction with the environment and with humans. This chapter summarizes the mechatronic design concepts as well as the basic control and planning strategies of two torque-controlled humanoid robots developed at DLR, the wheeled robot Rollin’ Justin, and the biped robot Toro.

AB - This chapter provides an overview on the development process from lightweight manipulators toward anthropomorphic humanoid robots at the German Aerospace Center – DLR. The technological basis for these robots is a modular drive concept based on a tight mechatronic integration of brushless DC motors, harmonic drive gears, and link-side joint torque sensors. The feedback of the joint torque allows to generate a back-drivable behavior, which facilitates the implementation of highly sensitive impedance controllers. Compliant control is the basis for safe and dependable operation of these robots during physical interaction with the environment and with humans. This chapter summarizes the mechatronic design concepts as well as the basic control and planning strategies of two torque-controlled humanoid robots developed at DLR, the wheeled robot Rollin’ Justin, and the biped robot Toro.

KW - Position-controlled Joints

KW - Torque Sensor

KW - Torque-controlled Light Weight Robot

KW - Variable Impedance Actuators

KW - Wheeled Humanoid Robot

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SN - 9789400760455

SP - 637

EP - 662

BT - Humanoid Robotics

PB - Springer Netherlands

ER -

Mechanism Design of DLR Humanoid Robots

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Keywords

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