Space robotics-driver for a new mechatronic generation of light-weight arms and multifingered hands

Author

Hirzinger, G. ; Butterfass, J. ; Grebenstein, M. ; Schäfer, I. ; Sporer, N. ; Fischer, M. ; Hong, L. ; Albu-Schäffer, A. ; Schedl, M. ; Neumann, P.

Author_Institution

Inst. of Robotics & Mechantronics, DLR German Aerosp. Center, Wessling, Germany

Volume

2

fYear

2001

fDate

2001

Firstpage

1160

Abstract

Based on the long term goal “robonauts for space”, the paper describes design and development efforts in DLR´s robotics lab towards a new generation of “mechatronic” 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; in the same way the second generation a most highly integrated 4 finger-hand is near completion. Thus it is hoped that big steps towards a new generation of space as well as service and personal robots have been achieved

Keywords

aerospace robotics; dexterous manipulators; mechatronics; state feedback; 4 finger-hand; complete state feedback; fully sensorized joints; mechatronic ultra-light weight robots; multifingered hands; personal robots; robonauts; service robots; Arm; Humans; Intelligent robots; Kinematics; Manipulators; Mechatronics; Orbital robotics; Robot sensing systems; Service robots; Space technology;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on

Conference_Location

Como

Print_ISBN

0-7803-6736-7

Type

conf

DOI

10.1109/AIM.2001.936867

Filename

936867