Alin Albu-Schäffer

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In this paper we describe a general passivity based framework for the control of flexible joint robots. Herein the recent DLR results on torque-, position-, as well as impedance control of flexible joint robots are summarized, and the relations between the individual contributions are highlighted. It is shown that an inner torque feedback loop can be(More)
The paper presents a new generation of torque-controlled lightweight robots (LWR) developed at the Institute of Robotics and Mechatronics of the German Aerospace Center. 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,(More)
The paper describes the recent design and development efforts in DLR ́s robotics lab towards the second generation of light-weight robots. The design of the lightweight mechanics, integrated sensors and electronics is outlined. The fully sensorized joint, with motor and link position sensors as well as joint torque sensors enables the implementation of(More)
Physical human–robot interaction and cooperation has become a topic of increasing importance and of major focus in robotics research. An essential requirement of a robot designed for high mobility and direct interaction with human users or uncertain environments is that it must in no case pose a threat to the human. Until recently, quite a few attempts were(More)
The light-weight robots developed at the German Aerospace Center (DLR) are characterized by their low inertial properties, torque sensing in each joint and a load to weight ratio similar to humans. These properties qualify them for applications requiring high mobility and direct interaction with human users or uncertain environments. An essential(More)
A robot manipulator sharing its workspace with humans should be able to quickly detect collisions and safely react for limiting injuries due to physical contacts. In the absence of external sensing, relative motions between robot and human are not predictable and unexpected collisions may occur at any location along the robot arm. Based on physical(More)
In this paper, a novel type of impedance controllers for flexible joint robots is proposed. As a target impedance, a desired stiffness and damping are considered without inertia shaping. For this problem, two controllers of different complexity are proposed. Both have a cascaded structure with an inner torque feedback loop and an outer impedance controller.(More)
This paper presents a humanoid two-arm system developed as a research platform for studying dexterous twohanded manipulation. The system is based on the modular DLRLightweight-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. In this paper(More)
Abstrud In the last two years a third generation of torque-controlled light weight robots has been developed in DLR‘s robotics and mechatronics lab which is based on all the experiences that have been made with the first two generations. It aims at reaching the limits of what seems achievable with present day technologies not only with respect to(More)
In this paper, the concept of divergent component of motion (DCM, also called “Capture Point”) is extended to 3-D. We introduce the “Enhanced Centroidal Moment Pivot point” (eCMP) and the “Virtual Repellent Point” (VRP), which allow for the encoding of both direction and magnitude of the external forces and the(More)