Abstract
The keynote lecture describes recent design and development efforts in DLR’s robotics lab towards a new generation of ultra-light weight robots with articulated hands (Fig.1). The design of fully sensorized joints with complete state feedback and the underlying mechanisms are outlined. The second joint torque-controlled light-weight arm generation is available now [1], as well as the second generation of a highly integrated 4 finger-hand with 13 actuators and more than 100 sensors [2]. Thus we hope that important steps towards a new generation of service and personal robots have been achieved, with space robotics becoming a major driver due to the need for advanced “robonaut” technologies.
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References
J. Butterfaß, M. Grebenstein, H. Liu, G. Hirzinger. DLR-Hand II: Next Generation of a Dextrous Robot Hand. IEEE International Conference on Robotics and Automation, Seoul, Korea, 2001.
G. Hirzinger, A. Albu-Schäffer, M. Hähnle, I. Schaefer, and N. Sporer. A New Generation of Torque Controlled Light-weight Robots. IEEE International Conference on Robotics and Automation, Seoul, Korea, 2001.
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© 2001 Springer-Verlag Berlin Heidelberg
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Hirzinger, G. et al. (2001). A new Generation of Light-weight Robot Arms and Multifingerd Hands. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_57
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DOI: https://doi.org/10.1007/3-540-45118-8_57
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