Paper Info
Title
The DLR FSJ: Energy based design of a variable stiffness joint
Abstract
Bringing mechanically compliant joints to robots is in the focus of interest world wide, especially in the humanoid robotics community. Variable Stiffness Joints (VSJ) promise to gain a high performing and robust robotic system. The presented DLR Floating Spring Joint (FSJ) is a VSJ module designed for the first 4 axes of the anthropomorphic DLR Hand Arm System. The DLR Hand Arm System aims to match the skills of its natural archetype. For this purpose, the joints have to be extremely compact to fit into the arm. At the same time they require a high power density in order to approximate the human arm skills. The new DLR FSJ is designed completely from an energy based point of view. This addresses not only energy efficient components and low friction design, but also that the potential energy of the spring is used as good as possible. A demonstration of robustness is given by the investigation of a blunt impact to the tip of the arm.
Year
DOI
Venue
2011
10.1109/ICRA.2011.5980303
Robotics and Automation
Keywords
Field
DocType
compliant mechanisms,dexterous manipulators,elasticity,friction,humanoid robots,manipulator kinematics,springs (mechanical),DLR FSJ,VSJ module design,anthropomorphic DLR hand arm system,energy based design,floating spring joint,humanoid robotics community,low friction design,mechanically compliant joint,variable stiffness joint
Compliant mechanism,Torque,Human arm,Efficient energy use,Stiffness,Simulation,Robustness (computer science),Control engineering,Engineering,Robot,Humanoid robot
Conference
Volume
Issue
ISSN
2011
1
1050-4729
ISBN
Citations 
PageRank 
978-1-61284-386-5
47
2.29
References 
Authors
10
3
Name
Order
Citations
PageRank
Sebastian Wolf11228.87
Oliver Eiberger225817.51
gerd hirzinger35185617.40