The paper describes recent design and development efforts in DLR's robotics lab towards a new generation of ultra-light weight robots with articulated hands. The design of fully sensorized joints with complete state feedback and the underlying mechanisms are outlined. The second light-weight arm generation is available now, as well as the second generation of a worldwide most highly integrated ...

This paper presents a cooperative coevolutionary approach to path planning for two robotic arms sharing common workspace. Each arm is considered an agent, required to find transition strategy from given initial to final configuration in the work space. Since the robots share workspace, they present dynamic obstacle to each other. To solve the problem of path planning in optimized fashion, we fo...

The mobile service robots will share their workspaces e.g. offices, hospitals or households with humans. Thus a direct contact between man and machine is inevitably. Robots equipped with appropriate sensors can sense the touch. In this paper we present how an untrained user can intuitively interact with the new DLR light-weight robot just by touching the arm. The robot with 7 dof’s will react b...

In this paper, an automatic control method based on type-2 fuzzy sliding mode for a mobile arm robot is presented. These types of robots have very complex dynamics due to the uncertainty parameters and mobility their base, so conventional methods do not provide suitable solution. The proposed proves convergence with Lyapunov theory, its mathematically guaranteed. A system responsible approximat...

Abstract Robots are playing key role in today’s world. actively taking part the industries, hospitals, defense applications as well. This paper describes about how hand gesture movements can control robotic arm. Hand data is recorded by leap motion controller. That captured gestures then processed and sent to microcontroller. In this we intended design a arm that completely useful people with d...

Abstract The McKibben pneumatic actuator (MPA) is a soft used for performing various practical functions in robots. Particularly, many dynamic robots have been realized using MPAs. However, there trade-off between torque generated by MPA and the range of motion joint. In this study, we focus on jumping leg-type robot use an elliptical pulley whose moment arm changes depending robot’s posture. T...

This paper describes the most popular options that are available developers of intelligent humanoid robots and their advantages and disadvantages. There has never been a wider range of affordable and practical solutions for the developers of intelligent humanoid robots. This paper lists the suitability of the most common options such as microcontrollers, ARM based embedded boards, and x86 based...

This paper discusses deriving geometric jacobians and identifying and analyzing the kinematic singularities for two 6 DOF arm robots. First we show the direct kinematics and D-H parameters derived for these two arms. The Geometric jacobian is computed for Barrett WAM and Smokie OUR. By analyzing the jacobian matrices we find the configurations at which J is rank deficient and derive the kinemat...

In this article, we propose a novel bilateral teleoperation architecture for multiarms system based on the two-layer approach. Exploiting concept of shared energy tank, passivity layer guarantees overall with respect to destabilizing factors such as time delays in communication channel. The desired behavior can then be freely designed transparency layer. formulation tank is first revised, allow...

This paper presents a controller for whole-arm obstacle avoidance for the slave robot in an unilateral teleoperated robotic system. The slave controller is free of robot inverse kinematics model, and it is conformed of two parts. First a cartesian PID controller is used to render closed loop system stability. The second controller part is the on-line solution of a dynamic optimization problem. ...