DLR's torque-controlled light weight robot III-are we reaching the technological limits now?

By G. Hirzinger, N. Sporer, Alin Olimpiu Albu-Schäffer, M. Hähnle, R. Krenn, A. Pascucci, M. Schedl. Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2002

344 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering, Mechanical Engineering

View Paper: https://www.semanticscholar.org/paper/bd13feccd1a1ae1dd855ba1e4ac78981ca5438cf

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Citations in the corpus

Collision detection and reaction: A contribution to safe physical Human-Robot Interaction (2008, neutral): “3 For details concerning the full design of the robot, please refer to [9] and [11]. τ τ ext + − ˙ p p ˙ q q M −1 1 s 1 s β(q, ˙ q) − − − ˆ β(q, ˙ q) ˆ β() = β() p = M(q) ˙ q K O 1 s ˆ ˙ p ˆ r ≈ τ ext Observer Rigid body dynamics, eq.”
Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots (2017, background): “Apparent impedance can be modulated by implementing impedance control [16] with torque sensors at each joint [17], [18].”
Working Together: A Review on Safe Human-Robot Collaboration in Industrial Environments (2017, methodology): “With the development of systems for mechanical compliance, such as the VSA approach [80], [81], the SEA approach [82], decoupling the heavy motor inertia from the link inertia [53], [59], the use of lightweight materials such as light carbon fibres [68], [76], and the use of sensor skin based on cap”
A New Actuation Approach for Human Friendly Robot Design (2004, background): “As a result, alternative control schemes have been implemented including PI control [14] and full-state feedback [6].”
On the Passivity-Based Impedance Control of Flexible Joint Robots (2008, background): “Since the controller uses an inner torque feedback loop, a measurement of the joint torques is needed for the implementation.”
Machine learning of motor skills for robotics (2007, background): “For doing so, the robot has to be build as a heavy mechanical structure with non-backdrivable, uncompliant joints resulting both into high-payload to weight ratio and low energy-effiency (Hirzinger et al., 2002; AlbuSchaefer, 2002).”