The DLR lightweight robot: design and control concepts for robots in human environments

By Alin Olimpiu Albu-Schäffer, Sami Haddadin, Christian Ott, A. Stemmer, T. Wimböck, G. Hirzinger. 2007

657 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering, Medical Laboratory Technology

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Biomedical Engineering

1. Sami Haddadin
2. Alin Olimpiu Albu-Schäffer
3. G. Hirzinger
4. Avik De
5. John P. Donoghue
6. Leigh R. Hochberg
7. Etienne Burdet
8. Abderraouf Maoudj

In Control and Systems Engineering

1. Sami Haddadin
2. Alin Olimpiu Albu-Schäffer
3. G. Hirzinger
4. Darwin G. Caldwell
5. Avik De
6. Sylvain Calinon
7. Abderraouf Maoudj
8. Isma Akli

In Medical Laboratory Technology

1. Avik De

Citations in the corpus

• Symbiotic human-robot collaborative assembly (2019, background): “The Institute of Robotics and Mechatronics of German Aerospace developed a light-weight robot based on the integrated torque-controlled mechanism [26,137].”
• Learning Physical Collaborative Robot Behaviors From Human Demonstrations (2016, methodology): “In this setting, we used a 7-DoF KUKA lightweight robot [50], which is equipped with a six-axis force–torque sensor (ATI Mini45) attached between its wrist and the wooden table, measuring the interaction forces generated while moving the table and screwing the legs.”
• Modular Hopping and Running via Parallel Composition (2017, methodology): “Transparency measures The reflected inertia of the Maxon EC-45 is reported in Maxon Motors (2010) and then scaled by the gear ratio (23:1 in this case) squared.”
• Human–robot interaction in industrial collaborative robotics: a literature review of the decade 2008–2017 (2019, methodology): “The authors performed various tests using DLR-Lightweight Robot III [51] to determine the potential risk of injury from such a robot.”
• Requirements for Safe Robots: Measurements, Analysis and New Insights (2009, methodology): “Details of the design and control methodologies are described by Albu-Schäffer et al. (2007a) and Hirzinger et al. (2004).”
• Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions (2011, background): “The controller was validated in implementations with one and multi-DOF force controlled robots, can utilize the new possibilities offered by VIA, and can realize optimal assistance in a human–machine interaction.”
• Reach and grasp by people with tetraplegia using a neurally controlled robotic arm (2012, positive): “The DLR Light-Weight Robot III (German Aerospace Center, Oberpfaffenhofen, Germany, Fig 1b, left) 10 is designed to be an assistive device that can reproduce complex arm and hand actions.”