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Light Weight Robots
Dr. Gerd Hirzinger, Institute for Robotics and Mechatronics, Dlr, Oberpfaffenhofen, Germany
Dr. Alin Albu-schaeffer, Dlr – German Aerospace Center, Institute of Robotics and Mechatronics, Germany
Contents
1 General Description
2 Design Approach
3 Examples of Light-weight Robots
4 Applications in Humanoid Robotics
5 Control of Light-weight Robots
6 Example: the Control Concepts of the Dlr Light-weight Robot
7 References
8 Recommended Reading
9 External Links
10 See Also
Light-weight Robots Are Robots Especially Designed for Mobility and Interaction With a Priori Unknown Environments and With Humans. These Applications Pose the Requirements of a Light-weight Design With High Load to Weight Ratio and High Motion Velocity (Close to the Approximately 1:1 Ratio of Human Arms at a Tip Velocity of 6m/s). Further, They Require a Modular, Integrated Mechanical and Electronics Design as Well as Sensing and Control Capabilities Enabling Skilful, Compliant Interaction (Soft Robotics).
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