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  • DLR Robotics and Mechatronics Center: Sami Haddadin

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    Vincent lui
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    The document discusses the Robotics and Mechatronics Center (RMC) at the German Aerospace Center (DLR). It provides an overview of RMC activities, including research on force-feedback teleoperation, shared autonomy for robotics, and development of robotic systems like Justin, a 43 degree of freedom humanoid robot. It also describes RMC's work with lightweight robots, robot control approaches, and applications in space robotics, medical robotics, and more.

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    The document discusses the Robotics and Mechatronics Center (RMC) at the German Aerospace Center (DLR). It provides an overview of RMC activities, including research on force-feedback teleoperation, shared autonomy for robotics, and development of robotic systems like Justin, a 43 degree of freedom humanoid robot. It also describes RMC's work with lightweight robots, robot control approaches, and applications in space robotics, medical robotics, and more.

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    46 views31 pages

    DLR Robotics and Mechatronics Center: Sami Haddadin

    Uploaded by

    Vincent lui
    The document discusses the Robotics and Mechatronics Center (RMC) at the German Aerospace Center (DLR). It provides an overview of RMC activities, including research on force-feedback teleoperation, shared autonomy for robotics, and development of robotic systems like Justin, a 43 degree of freedom humanoid robot. It also describes RMC's work with lightweight robots, robot control approaches, and applications in space robotics, medical robotics, and more.

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    © All Rights Reserved
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    of 31

    DLR

    Robotics and Mechatronics Center

    Sami Haddadin

    Robotics and Mechatronics Center


    German Aerospace Center (DLR), Germany

    Haddadin: http://www.dlr.de/rm
    German Aerospace Center

    DLR - Deutsches Zentrum für Luft- und Raumfahrt


    German Aerospace Agency

    ≈ 5000 employees
    eight locations
    Oberpfaffenhofen: ≈ 1000 employees

    Haddadin: http://www.dlr.de/rm
    Robotics and Mechatronics Center

    ≈ 150 research staff, Head: Dr.-Ing. Alin Albu-Schäfter

    Haddadin: http://www.dlr.de/rm
    Overview - RM activities

    Haddadin: http://www.dlr.de/rm
    Forsion - Vision & Force

    Haddadin: http://www.dlr.de/rm
    Space technology: ROTEX (1993)

    Haddadin: http://www.dlr.de/rm
    Rotex 1993

    Rotex 1993
    Haddadin: http://www.dlr.de/rm
    Rotex 1993

    Model based computer vision


    Haddadin: http://www.dlr.de/rm
    Shared autonomy

    Haddadin: http://www.dlr.de/rm
    Rokviss concept

    Haddadin: http://www.dlr.de/rm
    Rokviss I

    Rokviss
    Haddadin: http://www.dlr.de/rm
    Rokviss II

    Rokviss: Force-feedback
    Haddadin: http://www.dlr.de/rm
    Telepresence

    Haddadin: http://www.dlr.de/rm
    Telepresence of a humanoid system

    Justin telepresence
    Haddadin: http://www.dlr.de/rm
    Robo satellite

    Catching objects in space


    Haddadin: http://www.dlr.de/rm
    The DLR Crawler

    DLR Crawler
    Haddadin: http://www.dlr.de/rm
    The DLR robots I

    Haddadin: http://www.dlr.de/rm
    The DLR robots II

    Haddadin: http://www.dlr.de/rm
    The DLR Robots III

    Haddadin: http://www.dlr.de/rm
    The DLR Robots III

    Haddadin: http://www.dlr.de/rm
    The DLR Lightweightrobot III

    State-of-the-art robot for evaluation: DLR LWRIII:


    7DOF - 15kg - Torque-controlled - LWR=1

    Haddadin: http://www.dlr.de/rm
    Impedance control with the DLR-LWRIII

    vertical: stiffness Kz = 500N/m, damping ξz = 0.7


    horizontal: stiffness Kx = 500N/m, damping ξx = 0.001

    Haddadin: http://www.dlr.de/rm
    DLR-LWRIII + DLR-Hand II

    DLR Ballcatcher
    Haddadin: http://www.dlr.de/rm
    EMG controlled robot

    EMG-LWR cotrol
    Haddadin: http://www.dlr.de/rm
    The DLR Humanoid Justin

    Justin
    43DOF - Torque-controlled - Based on DLR-LWR III & DLR-Hand II

    Haddadin: http://www.dlr.de/rm
    Justin self collision avoidance

    Haddadin: http://www.dlr.de/rm
    Justin - The DLR Humanoid

    Justin - Pouring tea


    Haddadin: http://www.dlr.de/rm
    Justin ICRA 2009

    Haddadin: http://www.dlr.de/rm
    Kinemedic: Nullspace motion

    Nullspace motion Kinemedic


    Haddadin: http://www.dlr.de/rm
    Kinemedic

    Kinemedic: Biopsy
    Haddadin: http://www.dlr.de/rm
    Miro at Automatica2008

    Miro at Automatica 2008


    Haddadin: http://www.dlr.de/rm

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