Title :
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
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;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936867
