A mechatronics approach to the design of light-weight arms and multifingered hands

Author

Hirzinger, G. ; Butterfaß, J. ; Fischer, M. ; Grebenstein, M. ; Hähnle, M. ; Liu, H. ; Schaefer, I. ; Sporer, N.

Author_Institution

DLR Oberpfaffenhofen, German Aerosp. Center, Wessling, Germany

Volume

1

fYear

2000

fDate

2000

Firstpage

46

Abstract

Describes design and development efforts in DLR´s robotics lab towards a new generation of ultra-light weight robots with articulated hands. The design of fully sensorized joints with complete state feedback and the underlying mechanisms are outlined. The second light-weight arm generation is available now, as well as the second generation of a worldwide most highly integrated 4 finger-hand is available now. Thus we hope that important steps towards a new generation of service and personal robots have been achieved

Keywords

dexterous manipulators; mechatronics; state feedback; 4 finger-hand; articulated hands; fully sensorized joints; light-weight arms; mechatronics approach; multifingered hands; personal robots; service robots; ultra-light weight robots; Arm; Brushless DC motors; Defense industry; Humans; Intelligent robots; Intelligent sensors; Mechatronics; Orbital robotics; Robot sensing systems; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.844038

Filename

844038