A5005657289- Robot Manipulation and Learning
- Soft Robotics and Applications
- Prosthetics and Rehabilitation Robotics
- Muscle activation and electromyography studies
- Robotic Locomotion and Control
- Modular Robots and Swarm Intelligence
- Physics and Engineering Research Articles
- Robotic Path Planning Algorithms
- Robotics and Sensor-Based Localization
- Smart Grid Energy Management
- Smart Grid Security and Resilience
- Robotics and Automated Systems
- Renewable energy and sustainable power systems
- Microfluidic and Capillary Electrophoresis Applications
- Building Energy and Comfort Optimization
- Magnetic Field Sensors Techniques
- Space Exploration and Technology
- Analytical Chemistry and Sensors
- Image Processing Techniques and Applications
- Power System Reliability and Maintenance
- Induction Heating and Inverter Technology
- Planetary Science and Exploration
- Thermal Analysis in Power Transmission
- Teleoperation and Haptic Systems
- Spectroscopy Techniques in Biomedical and Chemical Research
Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)
2015-2025
Austrian Institute of Technology
2018-2020
Technical University of Munich
2015-2017
Robotic Research (United States)
2017
Institute of Robotics
2017
University of Pisa
2015
Imperial College London
2015
Italian Institute of Technology
2015
University of Twente
2015
Vrije Universiteit Brussel
2015
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 put on robustness, dynamic performance dexterity. Therefore, a paradigm change from impedance controlled, but mechanically stiff joints robots intrinsic compliance carried out. Collisions the rigid joint robot high speeds with objects induce energy too fast for an active controller...
Variable Stiffness Actuators (VSA) are complex mechatronic devices, which developed to build passively compliant, robust, and dexterous robots.Numerous different hardware designs have been in the past two decades address various demands on their functionality.This review paper gives a guide design process from analysis of desired tasks identifying relevant attributes influence selection components such as motors, sensors, springs.The performance principles generate passive compliance...
Since their introduction in the early years of this century, variable stiffness actuators (VSA) witnessed a sustained growth interest research community, as shown by growing number publications. While many consider VSA very interesting for applications, one factors hindering further diffusion is relatively new conceptual structure technology. When choosing application, educated practitioners, who are used to robot based on standardized procedures and uniformly presented data, would be...
This paper presents a humanoid two-arm system developed as research platform for studying dexterous two-handed manipulation. The is based on the modular DLR-Lightweight-Robot-III and DLR-Hand-II. Two arms hands are combined with three degrees-of-freedom movable torso visual to form complete upper body. In this we present design considerations give an overview of different sub-systems. Then, describe requirements software architecture. Moreover, applied control methods two-armed manipulation...
Physical human–robot interaction implies the intersection of human and robot workspaces intrinsically favors collision. The robustness most exposed parts, such as hands, is crucial for effective complete task execution a robot. Considering scales, we think that can only be achieved by use energy storage mechanisms, e.g. in elastic elements. variable stiffness drives provides low-pass filtering impacts allows adjustments depending on task. However, using these drive principles does not...
Many countries are changing their legislation to enable photovoltaic (PV) sharing beyond building boundaries. This work aims investigate the profitability and optimal installation capacities of PV systems for energy communities (ECs) in comparison individual buildings. To gain a wide spectrum results, four characteristic settlement patterns with different types defined, ranging from urban suburban historical rural areas. Analytically, mixed-integer linear optimisation model is developed...
Variable stiffness actuation promises many benefits regarding mechanism robustness, energy efficiency, and dynamic performance. Here, we analyze the bidirectional antagonistic variable (BAVS) joint. A comprehensive overview of several aspects is given with a focus on torque characteristics First, functionality properties abstract joint model are considered. Then, implementation details influencing discussed based cam disc mechanisms. In general, an analytic approach chosen to enable...
Planetary exploration poses many challenges for a robot system: From weight and size constraints to extraterrestrial environment conditions, which constrain the suitable sensors actuators. As distance other planets introduces significant communication delay, efficient operation of system requires high level autonomy. In this work, we present our Lightweight Rover Unit (LRU), small agile rover prototype that designed planetary exploration. Its locomotion with individually steered wheels...
In this study, a model is developed to estimate the cost-optimal large-scale economic potential of shared rooftop PV systems based on neighbourhood energy communities (ECs). first step, an optimisation determines capacities for representative ECs in characteristic settlement patterns (SPs). Next, number area investigation determined by allocating buildings SPs and ECs. Finally, optimal large-scale, EC-based upscaling. A case study provided Austria, identifying approximately 10GWp. This...
The variable stiffness actuation concept is considered to provide a human-friendly robot technology. This paper examines joint called the bidirectional antagonistic which extension of joints. A new operating mode helping introduced, increases load range. Although can not be pretensioned in mode, it shown that variation possible, assuming suitable torque-stiffness characteristic elastic elements. methodology design such characteristics presented along with several example cases interpreted...
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 requirements are presented. One catching one or even flying balls using all Justin's degrees freedom. other preparation coffee. Both need adequate sensors to support local referencing. required precision position...
Multi-apartment buildings comprise almost half of the European housing stock and are for most part old energy inefficient, making active retrofitting an important topic. The objective this paper is to determine profitability optimal size different technology portfolios renewable building energy. A mixed-integer linear programming optimisation model developed in Matlab with maximising Net Present Value over a time horizon 20 years. To examine multiple use cases, modular approach used...
Grasping a variety of objects is still an open problem in robotics, especially for cluttered scenarios. Multimodal grasping has been recognized as promising strategy to improve the manipulation capabilities robotic system. This work presents novel grasp planning algorithm hybrid grippers that allows multiple modalities. In particular, planner manages two-finger grasps, single or double suction and magnetic grasps. Grasps different modalities are geometrically computed based on cuboid...
Humans exhibit a particular compliant behavior in interactions with their environment. Facilitated by fast physical reasoning, humans are able to rapidly alter compliance, enhancing robustness and safety active environments. Transferring these capabilities robotics is of utmost importance particularly as major space agencies begin investigating the potential cooperative robotic teams space. In this scenario, robots orbit or on planetary surfaces meant support astronauts exploration,...
Pick-and-place operations constitute the majority of today's industrial robotic applications. However, comparability and reproducibility results has remained an issue that delays further advances in this field. Evaluation manipulation systems can be carried out at different levels, but for final application performance overall system is critical one. This paper proposes a benchmarking framework pick-and-place systems, inspired by typical task logistic domain: picking up fruits vegetables...
The DLR Hand Arm System is based upon the variable stiffness concept which has been recently developed to improve impact robustness and energy efficiency of modern robots. This paper continues work on bidirectional antagonistic (BAVS) joint an extension joints. Three mechanical setups utilizing different spring cam disc combinations implement a desired torque-stiffness characteristic are analyzed. Two BAVS solutions as used for wrist forearm rotation presented. Furthermore in experimental...
Although instance-aware perception is a key prerequisite for many autonomous robotic applications, most of the methods only partially solve problem by focusing solely on known object categories. However, robots interacting in dynamic and cluttered environments, this not realistic severely limits range potential applications. Therefore, we propose novel instance segmentation approach that does require any semantic or geometric information objects beforehand. In contrast to existing works, do...
ADVERTISEMENT RETURN TO ISSUEPREVArticleNEXTResolution as a function of the pH buffer based on analyte charge number for multivalent ions in capillary zone electrophoresis without electroosmotic flow: Theoretical prediction and experimental evaluationWerner. Friedl Ernst. KenndlerCite this: Anal. Chem. 1993, 65, 15, 2003–2009Publication Date (Print):August 1, 1993Publication History Published online1 May 2002Published inissue 1 August...
This paper presents the first two members of new generation CLASH hands, which exploit low cost actuation and rapid prototyping to create antagonistic modular lightweight hands grippers. The approach robustness DLR Awiwi hand with a much lower complexity cost. To reduce number required actuators, differential coupling mechanism for underactuated fingers was developed, along that uses variable stiffness in order increase workspace fingers. provide research platform both hand-in-hand robotic...
This video presents the recent upgrades of mobile humanoid Agile Justin, bringing it closer to an ideal platform for research in autonomous manipulation. Significant have been made fields mechatronics, 3D sensors, tactile skin, massive GPGPU based computing power, and software communication framework. In addition, first algorithms two experimental scenarios are presented that take advantage these new capabilities.
This study investigates the profitability of implementing active and passive building retrofitting measures, either individually or combined, within framework contracting. Three contracting models are investigated: (i) Photovoltaic (PV) contracting, (ii) renovation (iii) PV including a heating system change. Since this study's practical approach focuses on client (building owner), an optimisation model is developed that maximises client's net present value, subject to guaranteed pay-off...