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— An anthropomorphic hand arm system using variable stiffness actuation has been developed at DLR. It is aimed to reach its human archetype regarding size, weight and performance. The main focus of our development is put on robustness, dynamic performance and dexterity. Therefore, a paradigm change from impedance controlled, but mechanically stiff joints to(More)
Whereas short-term memory lasts from minutes to hours, long-term memory (LTM) can last for days or even an entire lifetime. LTM generally forms after spaced repeated training sessions and involves the regulation of gene expression, thereby implicating transcription factors in the initial steps of LTM establishment. However, the direct participation of(More)
This is a PDF file of an unedited manuscript that has been accepted for publication. As a service to our customers we are providing this early version of the manuscript. The manuscript will undergo copyediting, typesetting, and review of the resulting proof before it is published in its final form. Please note that during the production process errors may(More)
2011 In memory of my great-great-grandfather Carl Heinrich Främbs who was expelled from ETH in the Bolley incident on July 31 st , 1864. ii Acknowledgments First of all, I would like to thank Roland Siegwart for having me as a PhD student over the past four years and for providing the extremely inspiring en-viroment and all the necessary resources that made(More)
—Biologically inspired Variable Impedance Actuators (VIA) offer the capability to execute cyclic and/or explosive multi degree of freedom (DoF) motions efficiently by storing elastic energy. This paper studies the preconditions which allow to induce robust cyclic motions for strongly nonlinear, underactuated multi DoF robotic arms. By experimental(More)
— The variable stiffness actuation concept is considered to provide a human-friendly robot technology. This paper examines a joint concept called the bidirectional antagonistic joint which is a extension of antagonistic joints. A new operating mode called the helping mode is introduced, which increases the joint load range. Although the joint can not be(More)
—This paper presents a control approach to stabilize limit cycle motions along a mechanical mode of variable stiffness actuated (VSA) robots. Thereby, first a computed torque PD controller with gravity and Coriolis/centrifugal compensation shapes a desired dynamics, which is decoupled in terms of modal coordinates. Then an asymptotically stable limit cycle(More)