User: Guest  Login
Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
A. Dietrich; M. Kimmel; T. Wimböck; S. Hirche; A. Albu-Schäffer 
Title:
Workspace Analysis for a Kinematically Coupled Torso of a Torque Controlled Humanoid Robot 
Pages contribution:
3439-3445 
Abstract:
The workspace and performance of a humanoid robot is decisively influenced by the design of its torso. The joints or spinal discs are usually the weak points due to the high stress they are exposed to, e. g. when lifting heavy objects. One way to circumvent the necessity of large motors is to use parallel mechanisms to optimize the distribution of loads. Here, we analyze the workspace of the humanoid robot Rollin’ Justin of the German Aerospace Center (DLR) w. r. t. the constraints imposed by ki...    »
 
Keywords:
conhumo 
Dewey Decimal Classification:
620 Ingenieurwissenschaften 
Book / Congress title:
IEEE International Conference on Robotics & Automation (ICRA) 
Year:
2014 
Quarter:
2. Quartal 
Year / month:
2014-06 
Month:
Jun 
Reviewed:
ja 
Language:
en 
Semester:
SS 14 
TUM Institution:
Lehrstuhl für Informationstechnische Regelung (Prof. Hirche)