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— This paper 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. In this(More)
— 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)
/ Abstract Transforming research results into marketable products requires considerable endurance and a strong sense of entrepre-neurship. The KUKA Lightweight Robot (LWR) is the latest outcome of a bilateral research collaboration between KUKA Roboter, Augsburg, and the Institute of Robotics and Mechatronics at the German Aerospace Center (DLR), Wessling.(More)
Fig. 1: The torque-controlled humanoid robot TORO and its development stages from 2010 (DLR Biped [1]) to 2014. Abstract— This paper gives an overview on the torque-controlled humanoid robot TORO, which has evolved from the former DLR Biped. In particular, we describe its mechanical design and dimensioning, its sensors, electronics and computer hardware.(More)
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— In this paper we introduce a classification of intrinsically compliant joint mechanisms. Furthermore, we outline design considerations for realizing such devices in order to match the requirements for robust and performant actuation. Based on this elaboration, a new design concept is presented, the DLR QA-Joint. Its performance is investigated by various(More)
— The mobile humanoid Rollin'Justin is a versatile experimental platform for research in manipulation tasks. Previously, different state of the art control methods and first autonomous task execution scenarios have been demonstrated. In this video two new applications with challenging task requirements are presented. One is the catching of one or even two(More)