A humanoid upper body system for two-handed manipulation

被引：31

作者：

Borst, Christoph ^{[1
]}

Ott, Christian ^{[1
]}

Wimboeck, Thomas ^{[1
]}

Brunner, Bernhard ^{[1
]}

Zacharias, Franziska ^{[1
]}

Baeuml, Berthold ^{[1
]}

Hillenbrand, Ulrich ^{[1
]}

Haddadin, Sami ^{[1
]}

Albu-Schaeffer, Alin ^{[1
]}

Hirzinger, Gerd ^{[1
]}

机构：

[1] German Aerosp Ctr, Inst Robot & Mechatron, DLR, D-82234 Wessling, Germany

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

关键词：

D O I：

10.1109/ROBOT.2007.363886

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This video presents a humanoid two-arm system developed as a research platform for studying dexterous two-handed manipulation. The system is based on the modular DLR-Lightweight-Robot-III and the DLR-Hand-II. Two arms and hands are combined with a three degrees-of-freedom movable torso and a visual system to form a complete humanoid upper body. The diversity of the system is demonstrated by showing the mechanical design, several control concepts, the application of rapid prototyping and hardware-in-the-loop (HIL) development as well as two-handed manipulation experiments and the integration of path planning capabilities.

引用

页码：2766 / +

页数：2

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