Soft robotics

Author

ALBU-SCHÄFFER, ALIN ; Eiberger, Oliver ; Grebenstein, Markus ; Haddadin, Sami ; Ott, Christian ; WIMBÖCK, THOMAS ; Wolf, Sebastian ; Hirzinger, Gerd

Volume

15

Issue

3

fYear

2008

fDate

9/1/2008 12:00:00 AM

Firstpage

20

Lastpage

30

Abstract

In this article, we gave an overview on the DLR activities related to two approaches for the realization of soft robotics: actively torque-controlled LWRs and VSA. On the basis of our experience with torque-controlled robots, we presented an analysis on expected advantages and also disadvantages of VSA actuators. Furthermore, two VSA joint designs motivated by this analysis were presented. Torque-controlled robots currently represent a technology mature enough for the market, but we believe that impressive research progress can be expected in the area of VSA-actuated robots in the next decade.

Keywords

actuators; humanoid robots; manipulators; DLR activities; VSA actuators; VSA joint designs; actively torque control; lightweight arms; lightweight robot; soft robotics; Actuators; Arm; Control systems; Humanoid robots; Manufacturing industries; Position measurement; Robot sensing systems; Safety; Service robots; Torque; joint torque control; lightweight robot; soft robotics; variable compliance actuators;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/MRA.2008.927979

Filename

4624580