TY - JOUR
T1 - neoDavid
T2 - A Humanoid Robot With Variable-Stiffness Actuation and Dexterous Manipulation Skills
AU - Wolf, Sebastian
AU - Bahls, Thomas
AU - Deutschmann, Bastian
AU - Dietrich, Alexander
AU - Harder, Marie
AU - Hoeppner, Hannes
AU - Hofmann, Cynthia
AU - Martin, Ana Huezo
AU - Keppler, Manuel
AU - Kluepfel, Leonard
AU - Maurenbrecher, Henry
AU - Meng, Xuming
AU - Reichert, Anne E.
AU - Stoiber, Manuel
AU - Bihler, Markus
AU - Chalon, Maxime
AU - Eiberger, Oliver
AU - Friedl, Werner
AU - Grebenstein, Markus
AU - Iskandar, Maged
AU - Langofer, Viktor
AU - Pfanne, Martin
AU - Raffin, Antonin
AU - Reinecke, Jens
AU - Wusthoff, Tilo
AU - Albu-Schaffer, Alin
N1 - Publisher Copyright:
© 1994-2011 IEEE.
PY - 2025
Y1 - 2025
N2 - Dexterity and strength are essential for performing a variety of tasks in the unstructured environments of household services and craftsmanship. For these tasks, we have developed neoDavid, a robust humanoid robot with dexterous manipulation skills. neoDavid has joints with variable-stiffness actuators (VSAs), which have mechanically adjustable elasticity in the drive train, a continuum elastic neck, and a gravitationally compensated torso with overload couplings. We present our modular approach in the development, starting from system architecture over mechatronic components, communication, and control to higher-level software. We demonstrate how this modularity enables scalable enhancements, allowing us to evolve the system from a single arm and hand into a complete humanoid robot. Additionally, we highlight advancements in perception, manipulation, and motion planning, along with the implementation of offline task planning utilizing capability maps. The versatile character in terms of dexterity and robustness is demonstrated in challenging applications, e.g., handling a drill hammer, fine manipulation of a pipette, and emptying a dishwasher.
AB - Dexterity and strength are essential for performing a variety of tasks in the unstructured environments of household services and craftsmanship. For these tasks, we have developed neoDavid, a robust humanoid robot with dexterous manipulation skills. neoDavid has joints with variable-stiffness actuators (VSAs), which have mechanically adjustable elasticity in the drive train, a continuum elastic neck, and a gravitationally compensated torso with overload couplings. We present our modular approach in the development, starting from system architecture over mechatronic components, communication, and control to higher-level software. We demonstrate how this modularity enables scalable enhancements, allowing us to evolve the system from a single arm and hand into a complete humanoid robot. Additionally, we highlight advancements in perception, manipulation, and motion planning, along with the implementation of offline task planning utilizing capability maps. The versatile character in terms of dexterity and robustness is demonstrated in challenging applications, e.g., handling a drill hammer, fine manipulation of a pipette, and emptying a dishwasher.
UR - https://www.scopus.com/pages/publications/105024470507
U2 - 10.1109/MRA.2025.3599706
DO - 10.1109/MRA.2025.3599706
M3 - Article
AN - SCOPUS:105024470507
SN - 1070-9932
JO - IEEE Robotics and Automation Magazine
JF - IEEE Robotics and Automation Magazine
ER -