The DOI matches its Crossref record; 10 of the 10 references it cites were found in a registry or an index.
The DLR lightweight robot: design and control concepts for robots in human environments
Open accessAbstract
Purpose: The paper seeks to present a new generation of torque‐controlled light‐weight robots (LWR) developed at the Institute of Robotics and Mechatronics of the German Aerospace Center. Design/methodology/approach: An integrated mechatronic design approach for LWR is presented. Owing to the partially unknown properties of the environment, robustness of planning and control with respect to environmental variations is crucial. Robustness is achieved in this context through sensor redundancy and passivity‐based control. In the DLR root concept, joint torque sensing plays a central role. Findings: In order to act in unstructured environments and interact with humans, the robots have design features and control/software functionalities which distinguish them from classical robots, such as: load‐to‐weight ratio of 1:1, torque sensing in the joints, active vibration damping, sensitive collision detection, compliant control on joint and Cartesian level. Practical implications: The DLR robots are excellent research platforms for experimentation of advanced robotics algorithms. Space and medical robotics are further areas for which these robots were designed and hopefully will be applied within the next years. Potential industrial application fields are the fast automatic assembly as well as manufacturing activities done in cooperation with humans (industrial robot assistant). The described functionalities are of course highly relevant also for the potentially huge market of service robotics. The LWR technology was transferred to KUKA Roboter GmbH, which will bring the first arms on the market in the near future. Originality/value: This paper introduces a new type of LWR with torque sensing in each joint and describes a consistent approach for using these sensors for manipulation in human environments. To the best of one's knowledge, the first systematic experimental evaluation of possible injuries during robot‐human crashes using standardized testing facilities is presented.
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Citations
Cites
Albu-Schäffer, A., Ott, C., & Hirzinger, G. (2007) · The International Journal of Robotics Research · doi:10.1177/0278364907073776 · Cited by 815
Self-citationDLR-Hand II: next generation of a dextrous robot hand
Butterfass, J., Grebenstein, M., Liu, H., & Hirzinger, G. (2002) · Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164) · doi:10.1109/robot.2001.932538 · Cited by 808
Self-citationCollision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm
De Luca, A., Albu-Schaffer, A., Haddadin, S., & Hirzinger, G. (2006) · 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2006.282053 · Cited by 779
Self-citationBicchi, A., & Tonietti, G. (2004) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2004.1310939 · Cited by 654
A Review of the Severity Index
Versace, J. (1971) · SAE Technical Paper Series · doi:10.4271/710881 · Cited by 587
Collision Detection and Reaction: A Contribution to Safe Physical Human-Robot Interaction
Haddadin, S., Albu-Schaffer, A., De Luca, A., & Hirzinger, G. (2008) · 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2008.4650764 · Cited by 562
Self-citationZinn, M., Khatib, O., Roth, B., & Salisbury, J. K. (2004) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2004.1310938 · Cited by 409
Ott, C., Albu-Schaffer, A., Kugi, A., Stamigioli, S., & Hirzinger, G. (2004) · IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 · doi:10.1109/robot.2004.1307462 · Cited by 167
Self-citationProgramming by touch: the different way of human-robot interaction
Grunwald, G., Schreiber, G., Albu‐Schäffer, A., & Hirzinger, G. (2003) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2003.814759 · Cited by 69
Self-citationAn Analytical Method for the Planning of Robust Assembly Tasks of Complex Shaped Planar Parts
Stemmer, A., Albu‐Schäffer, A., & Hirzinger, G. (2007) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2007.363806 · Cited by 48
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Reach and grasp by people with tetraplegia using a neurally controlled robotic arm
Hochberg, L. R., Bacher, D., Jarosiewicz, B., Masse, N. Y., Simeral, J. D., Vogel, J., Haddadin, S., Liu, J., Cash, S. S., van der Smagt, P., et al. (2012) · Nature · doi:10.1038/nature11076 · Cited by 2,719
Self-citationHentout, A., Aouache, M., Maoudj, A., & Akli, I. (2019) · Advanced Robotics · doi:10.1080/01691864.2019.1636714 · Cited by 462
Requirements for Safe Robots: Measurements, Analysis and New Insights
Haddadin, S., Albu-Schäffer, A., & Hirzinger, G. (2009) · The International Journal of Robotics Research · doi:10.1177/0278364909343970 · Cited by 444
Self-citationMazzolai, B., Margheri, L., Cianchetti, M., Dario, P., & Laschi, C. (2012) · Bioinspiration & Biomimetics · doi:10.1088/1748-3182/7/2/025005 · Cited by 290
Tele-impedance: Teleoperation with impedance regulation using a body–machine interface
Ajoudani, A., Tsagarakis, N., & Bicchi, A. (2012) · The International Journal of Robotics Research · doi:10.1177/0278364912464668 · Cited by 276
Metadata
- Authors
- Albu‐Schäffer, A., Haddadin, S., Ott, C., Stemmer, A., Wimböck, T., & Hirzinger, G.
- Venue
- Industrial Robot: An International Journal
- Publisher
- Emerald
- Published
- 2007-08-28
- Volume
- 34
- Issue
- 5
- Pages
- 376-385
- ISSN
- 0143-991X (ISSN-L)
- OpenAlex
- W2066202893
- Cited by
- 623
- References
- 10
- FWCI
- 21.31
- Type
- journal article
- Language
- en
- Open access
- green
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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