On a new generation of torque controlled light-weight robots

By G. Hirzinger, Alin Olimpiu Albu-Schäffer, M. Hähnle, Ingo Schäfer, N. Sporer. Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2001

352 citations recorded by the source corpus.

Subfields: Control and Systems Engineering, Mechanical Engineering

View Paper: https://www.semanticscholar.org/paper/208694ca8b43352cd1799beaa24ab644e99fd3f2

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Citations in the corpus

Survey on human–robot collaboration in industrial settings: Safety, intuitive interfaces and applications (2018, background): “In this regard, in general collisions should be prevented, but if they accidentally occur, the robot should be able to react reducing forces at the impact, by using appropriate control laws [31] or using lightweight robots with compliant joints [32, 33, 34].”
A New Actuation Approach for Human Friendly Robot Design (2004, background): “Perhaps the most successful of these has been the new DLR lightweight arm design [ 3 ].”
A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots (2007, methodology): “joints with torque sensors in addition to motor position sensors (Hirzinger et al. 2001).”
An atlas of physical human-robot interaction (2008, neutral): “A prototypical example of this is the design of the DLR-III Lightweight Robot [20], which is capable of operating a payload equal to its own weight (13.5 kg).”
Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm (2006, background): “When a collision occurs, the resulting contact forces during the impact phase may be alleviated by pursuing a lightweight robot design [5], by adding soft visco-elastic covering to the links [6], or by introducing compliance in the driving system so as to mechanically decouple the heavy motor inerti”
Fast and "soft-arm" tactics [robot arm design] (2004, background): “Most of these are related to a basic tolerance limit curve developed at Wayne State University (the WSUTL) on the basis of data experimentally acquired from animal and cadaver head collision tests.”
Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction (2005, background): “More recent approaches include minimization of link and motor inertias, and the design of new transmission mechanisms [3], [4].”
On the Passivity-Based Impedance Control of Flexible Joint Robots (2008, background): “The first two experiments were conducted with the seven-degrees-of-freedom DLR-LightweightRobot-II, while the second two were performed with the newer DLR-Lightweight-Robot-III.”
Sensorless Robot Collision Detection and Hybrid Force/Motion Control (2005, background): “[2]. Anticipating incipient collisions or detecting them in real-time is typically based on the use of additional external sensors, such as sensitive skins [3], on-board vision [4], strain gauges [5], force load cells, and so on. When an impact occurs, the resulting contact forces may be alleviated,”
Working Together: A Review on Safe Human-Robot Collaboration in Industrial Environments (2017, background): “Further developments resulted in the second generation of lightweight robots [69], [75], Fig.”
Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms (2003, background): “1) with integrated joint torque sensors are very well suited for this kind of control algorithms [4].”