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On a new generation of torque controlled light-weight robots
Abstract
The paper describes the recent design and development efforts in DLR Robotics Lab towards the second generation of light-weight robots. The design of the light weight mechanics, integrated sensors and electronics is outlined. The fully sensory joint, with motor and link position sensors as well as joint torque sensors enables the implementation of effective vibration damping and advanced control strategies for compliant manipulation. The mechatronic approach incorporates a tight collaboration between mechanics, electronics and controller design. The authors hope that important steps towards a new generation of service and personal robots have been achieved.
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Cited by
Working Together: A Review on Safe Human-Robot Collaboration in Industrial Environments
Robla-Gomez, S., Becerra, V. M., Llata, J. R., Gonzalez-Sarabia, E., Torre-Ferrero, C., & Perez-Oria, J. (2017) · IEEE Access · doi:10.1109/access.2017.2773127 · Cited by 589
Hentout, A., Aouache, M., Maoudj, A., & Akli, I. (2019) · Advanced Robotics · doi:10.1080/01691864.2019.1636714 · Cited by 462
A New Actuation Approach for Human Friendly Robot Design
Zinn, M., Roth, B., Khatib, O., & Salisbury, J. K. (2004) · The International Journal of Robotics Research · doi:10.1177/0278364904042193 · Cited by 441
Off-the-shelf vision for a robotic ball catcher
Frese, U., Bauml, B., Haidacher, S., Schreiber, G., Schaefer, I., Hahnle, M., & Hirzinger, G. (2002) · Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) · doi:10.1109/iros.2001.977211 · Cited by 103
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Metadata
- Authors
- Hirzinger, G., Albu-Schaffer, A., Hahnle, M., Schaefer, I., & Sporer, N.
- Venue
- Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
- Publisher
- IEEE
- Published
- 2002-11-13
- Volume
- 4
- Pages
- 3356-3363
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2135569231
- Cited by
- 305
- References
- 0
- FWCI
- 17.11
- Type
- conference paper
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: On a new generation of torque controlled light-weight robots. https://app.cochat.ai/papers/10.1109/robot.2001.933136
- The paper
- Hirzinger, G., Albu-Schaffer, A., Hahnle, M., Schaefer, I., & Sporer, N. (2002). On a new generation of torque controlled light-weight robots. Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164). https://doi.org/10.1109/robot.2001.933136
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
