Soft robotics -: From torque feedback-controlled lightweight robots to intrinsically compliant systems
Soft robotics -: From torque feedback-controlled lightweight robots to intrinsically compliant systems
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DOI：
10.1109/mra.2008.927979
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发表时间：
2008-09-01
影响因子：
5.7
通讯作者：
Hirzinger, Gerd
中科院分区：
文献类型：
--
作者：
Albu-Schaeffer, Alin;Eiberger, Oliver;Hirzinger, Gerd
在本文中，我们概述了与实现软机器人的两种方法相关的DLR活动：主动扭矩控制LWR和VSA。根据我们在力矩控制机器人方面的经验，我们分析了VSA执行器的预期优点和缺点。在此基础上，给出了两个VSA接头的设计。力矩控制机器人目前代表着一项对市场来说足够成熟的技术，但我们相信，在未来十年，VSA驱动的机器人领域将取得令人印象深刻的研究进展。
In this article, we gave an overview on the DLR activities related to two approaches for the realization of soft robotics: actively torque-controlled LWRs and VSA. On the basis of our experience with torque-controlled robots, we presented an analysis on expected advantages and also disadvantages of VSA actuators. Furthermore, two VSA joint designs motivated by this analysis were presented. Torque-controlled robots currently represent a technology mature enough for the market, but we believe that impressive research progress can be expected in the area of VSA-actuated robots in the next decade.