ICRA 2011 Paper Abstract

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Paper WeAV215.4

Hulin, Thomas (German Aerospace Center (DLR)), Hertkorn, Katharina (German Aerospace Center (DLR)), Kremer, Philipp (German Aerospace Center (DLR)), Schätzle, Simon (DLR, German Aerospace Center), Artigas, Jordi (DLR - German Aerospace Center), Sagardia, Mikel (German Aerospace Center (DLR)), Zacharias, Franziska (German Aerospace Center (DLR)), Preusche, Carsten (German Aerospace Center (DLR))

The DLR Bimanual Haptic Device with Optimized Workspace

Scheduled for presentation during the Video Sessions "Video Session II: Humanoid and Service Robotics" (WeAV215), Wednesday, May 11, 2011, 10:29−10:37, Room 3A

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 10, 2019

Keywords Haptics and Haptic Interfaces, Teleoperation, Physical Human-Robot Interaction

Abstract

This article accompanies a video that presents a bimanual haptic device composed of two DLR/KUKA Light-Weight Robot (LWR) arms. The LWRs have similar dimensions to human arms, and can be operated in torque and position control mode at an update rate of 1 kHz. The two robots are mounted behind the user, such that the intersecting workspace of the robots and the human arms becomes maximal. In order to enhance user interaction, various hand interfaces and additional tactile feedback devices can be used together with the robots. The presented system is equipped with a thorough safety architecture that assures safe operation for human and robot. Additionally, sophisticated control strategies improve performance and guarantee stability. The introduced haptic system is well suited for versatile applications in remote and virtual environments, especially for large unscaled movements.

 

 

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