In:
at - Automatisierungstechnik, Walter de Gruyter GmbH, Vol. 58, No. 11 ( 2010-11), p. 622-628
Abstract:
With the mobile humanoid robot Justin DLR presents a platform capable of sensitive manipulation of everyday objects. The considerations and fundamental design decisions for the mechatronic development of the system are presented. Furthermore, it is shown how the sensory information can be used for passivity-based control. In this way a compliant behavior of the robot in task space can be achieved. This allows for sensitive adjustments to unknown environments. Some exemplary applications and experiments demonstrate how these properties can simplify the programming of such complex robotic systems.
Type of Medium:
Online Resource
ISSN:
0178-2312
DOI:
10.1524/auto.2010.0882
Language:
English
Publisher:
Walter de Gruyter GmbH
Publication Date:
2010
detail.hit.zdb_id:
629186-7
detail.hit.zdb_id:
2027287-X
SSG:
15,3
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