Transcription of Soft Robotics: From Torque Feedback Controlled Lightweight ...
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Soft Robotics: From Torque Feedback Controlled Lightweight ...
Soft Robotics: From Torque Feedback Controlled LightweightRobots toIntrinsically Compliant SystemsA. Albu-Sch affer, O. Eiberger, M. Grebenstein, S. Haddadin, Ch. Ott, T. Wimb ock, S. Wolf, and Gerd HirzingerInstitute of Robotics and MechatronicsGerman Aerospace Center (DLR)I. INTRODUCTIONA fter decades of intensive research, it seems that weget closer to the time when robots will finally leave thecages of industrial robotic workcells and start working inthe vicinity of and together with humans. This is not onlybelieved by robotics researchers, but meanwhile also byleading automotive and IT companies, and of course bysome clear-sighted industrial robot manufacturers. Severaltechnologies required for this new kind of robots reached thenecessary level of performance, computing power, com-munication technologies, sensors, and electronics , it is clear that these human friendly robots will lookvery different from today s industrial robots.
τm u τ,τ Bθ torque control rigid robot dynamics D K passive environment τa τext impedance law g(q) dynamics q θ passive subsystem q(θ) Fig. 3. Representation of the …
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