Mechatronics approach to the design of light-weight arms and multifingered hands

G. Hirzinger; J. Butterfass; M. Fischer; M. Grebenstein; M. Haehnle; H. Liu; I. Schaefer; N. Sporer

Mechatronics approach to the design of light-weight arms and multifingered hands

G. Hirzinger^*
, J. Butterfass
, M. Fischer
, M. Grebenstein
, M. Haehnle
, H. Liu
, I. Schaefer
, N. Sporer

^*Corresponding author for this work

German Aerospace Center

Research output: Contribution to journal › Conference article › peer-review

72 Scopus citations

Abstract

The paper describes recent design and development efforts in DLR's robotics lab towards a new generation of ultra-light weight robots with articulated hands. The design of fully sensorized joints with complete state feedback and the underlying mechanisms are outlined. The second light-weight arm generation is available now, as well as the second generation of a worldwide most highly integrated 4 finger-hand is available now. Thus we hope that important steps towards a new generation of service and personal robots have been achieved.

Original language	English
Pages (from-to)	46-54
Number of pages	9
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1
State	Published - 2000
Externally published	Yes
Event	ICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA Duration: 24 Apr 2000 → 28 Apr 2000

Cite this

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abstract = "The paper describes recent design and development efforts in DLR's robotics lab towards a new generation of ultra-light weight robots with articulated hands. The design of fully sensorized joints with complete state feedback and the underlying mechanisms are outlined. The second light-weight arm generation is available now, as well as the second generation of a worldwide most highly integrated 4 finger-hand is available now. Thus we hope that important steps towards a new generation of service and personal robots have been achieved.",

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AU - Hirzinger, G.

AU - Butterfass, J.

AU - Fischer, M.

AU - Grebenstein, M.

AU - Haehnle, M.

AU - Liu, H.

AU - Schaefer, I.

AU - Sporer, N.

PY - 2000

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N2 - The paper describes recent design and development efforts in DLR's robotics lab towards a new generation of ultra-light weight robots with articulated hands. The design of fully sensorized joints with complete state feedback and the underlying mechanisms are outlined. The second light-weight arm generation is available now, as well as the second generation of a worldwide most highly integrated 4 finger-hand is available now. Thus we hope that important steps towards a new generation of service and personal robots have been achieved.

AB - The paper describes recent design and development efforts in DLR's robotics lab towards a new generation of ultra-light weight robots with articulated hands. The design of fully sensorized joints with complete state feedback and the underlying mechanisms are outlined. The second light-weight arm generation is available now, as well as the second generation of a worldwide most highly integrated 4 finger-hand is available now. Thus we hope that important steps towards a new generation of service and personal robots have been achieved.

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AN - SCOPUS:0033691383

SN - 1050-4729

VL - 1

SP - 46

EP - 54

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - ICRA 2000: IEEE International Conference on Robotics and Automation

Y2 - 24 April 2000 through 28 April 2000

ER -

Mechatronics approach to the design of light-weight arms and multifingered hands

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