Mitarbeiter
Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik
Analyse und Regelung komplexer Robotersysteme
Oberpfaffenhofen
Münchener Str. 20
82234 Weßling
| Telefon: | +49 8153 28 4216 |
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Fields of Interest
- modelling and control of nonlinear robotic system
- flexible joint and variable compliance robots
- control of under-actuated systems
- stability analysis of dynamic systems
- design of bio-inspired robots
Publications
IROS 2018 Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer, "Elastic Structure Preserving Impedance (ESπ) Control for Compliantly Actuated Robots", in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, Oct 2018. Download, IEEE Xplore
IROS 2018 Alexander Werner, Bernd Henze, Manuel Keppler, Florian Loeffl, Sigrid Leyendecker, Christian Ott, "Structure preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid Robots", in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, Oct 2018. Download, IEEE Xplore
ECC 2018 Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer, "Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots", in Proc. European Control Conference (ECC), Limassol, Cyprus, June 2018. Download, IEEE Xplore
TRO 2018 Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer, "Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots", IEEE Transactions on Robotics, Volume: 34 , Issue: 2 , April 2018. Download, IEEE Xplore
CDC 2016 Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer, "A Passivity-Based Controller for Motion Tracking and Damping Assignment for Compliantly Actuated Robots", in Proc. of the 2016 IEEE 55th Conference on Decision and Control (CDC), Las Vegas, USA, December 2016. Download, IEEE Xplore
ICRA 2016 Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer, "A Passivity-Based Approach for Trajectory Tracking and Link-Side Damping of Compliantly Actuated Robots", in Proc. of the 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016. Download, IEEE Xplore
Awards
Best Automation Paper Award - Finalist - ICRA 2016, entitled for [P1]
News
IEEE Spektrum Video Friday: featured
[ Link ] 1 Apr 2016
IEEE Spektrum Video Friday: headliner
[ Link ] 27 Jul 2018
Robot Systems
The DLR Hand Arm System (aka David) is an anthropomorphic robot that features variable stiffness actuators (VSA) in all its joints. It is intended to approach its human archetype in size, weight, and performance. The focus of the development is on robustness, high dynamics, and dexterity.
More Information
Multimedia
[ IROS 2019 submission ] The Video above shows the disturbance rejection performance of our new Cartesian impedance tracking controller (cESPi). The TCP, which is located inbetween both fingers, is commaned to track an ellipse in 3D space. As shown in the Video, even after heavy disturbances the the TCP motion converges back on the desired trajector.
The desired trajectory is reprensented via three Cartesian coordinates. The arm however, features more degrees of freedom than are necessary to track this motion. As a result, null space motions are possible that do not disturb the tracking task. This is also shown in the video, as the human operator is able to push around the elbow while the TCP tracks the desired motion.
[ V1 ] The Video above shows the performance of our Cartesian impedance controller (ESPi) for point regulation tasks.
[ V2 ] The video above shows the tracking, damping and disturbance rejection performance of the controller that was presented at ICRA 2016 (ESP control) on DLR David, an anthropomorphic robot system featuring highly nonlinear variable stiffness actuators.
[ V3 ] The Video above shows the control performance of the control approach for motion tracking and damping assignment that was presented at CDC 2016 (ESP+ control) on DLR David, an anthropomorphic robot system featuring highly nonlinear variable stiffness actuators.
[ V4 ] This demo shows David drilling into a block of concrete with a drill hammer. The built in flexible joints (VSA) enhance Davids mechanical robustness against external impacts, this allows him to handle the impacts due to the drill hammering with relative ease, compared to standard rigid robots.
This task requires both, precise positioning of the tool center point and damping of the vibrations at the link. The enabling controller in action is the one that was presented at ICRA 2016 (ESP control) which proofs to perform impressive on a real life task on a multi-degrees of freedom, flexible joint robot with variable non-linear stiffness. This experiment also highlights the control approachs robustness against external impacts. Realising this demo was a joint work by Davids team.
Learn more about the system: http://www.dlr.de/rmc/rm/en/desktopdefault.aspx/tabid-11666/#gallery/28234
[ Dynamics Walking Application ]