ICRA 2011 Paper Abstract

Close

Paper ThA207.3

Wolf, Sebastian (DLR - German Aerospace Center), Eiberger, Oliver (DLR - German Aerospace Center), Hirzinger, Gerd (German Aerospace Center (DLR))

The DLR FSJ: Energy Based Design of a Variable Stiffness Joint

Scheduled for presentation during the Regular Sessions "Variable Stiffness Actuators II" (ThA207), Thursday, May 12, 2011, 10:35−10:50, Room 5B

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 August 19, 2019

Keywords Compliant Joint/Mechanism, New Actuators for Robotics, Physical Human-Robot Interaction

Abstract

Bringing mechanically compliant joints to robots is in the focus of interest world wide, especially in the humanoid robotics community. Variable Stiffness Joints (VSJ) promise to gain a high performing and robust robotic system. The presented DLR Floating Spring Joint (FSJ) is a VSJ module designed for the first 4 axes of the anthropomorphic DLR Hand Arm System. The DLR Hand Arm System aims to match the skills of its natural archetype. For this purpose, the joints have to be extremely compact to fit into the arm. At the same time they require a high power density in order to approximate the human arm skills. The new DLR FSJ is designed completely from an energy based point of view. This addresses not only energy efficient components and low friction design, but also that the potential energy of the spring is used as good as possible. A demonstration of robustness is given by the investigation of a blunt impact to the tip of the arm.

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2019 PaperCept, Inc.
Page generated 2019-08-19  20:00:26 PST  Terms of use