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- Titel:
A humanoid upper body system for two-handed manipulation (Video)
- Dokumenttyp:
- Konferenzbeitrag
- Autor(en):
- Borst, Christoph; Ott, Christian; Wimbock, Thomas; Brunner, Bernhard; Zacharias, Franziska; Bäuml, Berthold; Hillenbrand, Ulrich; Haddadin, Sami; Albu-Schäffer, Alin; Hirzinger, Gerd
- Abstract:
- This video presents a humanoid two-arm system developed as a research platform for studying dexterous two-handed manipulation. The system is based on the modular DLR-Lightweight-Robot-III and the DLR-Hand-II. Two arms and hands are combined with a three degrees-of-freedom movable torso and a visual system to form a complete humanoid upper body. The diversity of the system is demonstrated by showing the mechanical design, several control concepts, the application of rapid prototyping and hardware... »
- Stichworte:
- dexterous manipulators; humanoid robots; DLR-Hand-II; dexterous two-handed manipulation; hardware-in-the-loop development; humanoid two-arm system; humanoid upper body system; mechanical design; modular DLR-Lightweight-Robot-III; Arm; Humanoid robots; Humans; Impedance; Kinematics; Mechatronics; Robotics and automation; Torque; Torso; Unified modeling language
- Kongress- / Buchtitel:
- Robotics and Automation, 2007 IEEE International Conference on
- Jahr:
- 2007
- Monat:
- April
- Seiten:
- 2766-2767
- Volltext / DOI:
- doi:10.1109/ROBOT.2007.363886
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