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The International Journal of Robotics Research
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Advances in Robotics: The DLR Experience

Gerd Hirzinger

Deutsches Zentrum für Luft und Raumfahrt e.V. (DLR), Oberpfaffenhofen, D-82234 Wessling, GermanyGerd.Hirzinger{at}dlr.de

Max Fischer

Bernhard Brunner

Ralf Koeppe

Martin Otter

Markus Grebenstein

Ingo Schäfer

Deutsches Zentrum für Luft und Raumfahrt e.V. (DLR), Oberpfaffenhofen, D-82234 Wessling, Germany

Key items in the development of a new smart robot generation are explained in light of DLR’s recent activities in robotics research. These items are the design of articulated hands, ultra-lightweight links, and joint drive systems with integrated joint torque control, sensory feedback including real-time 3-D vision, learning and skill-transfer, modeling the environment using sensorfusion, and new sensor-based off-line programming techniques based on teaching by showing in a virtual environment.

The International Journal of Robotics Research, Vol. 18, No. 11, 1064-1087 (1999)
DOI: 10.1177/02783649922067726
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J. Swevers, W. Verdonck, B. Naumer, S. Pieters, and E. Biber
An Experimental Robot Load Identification Method for Industrial Application
The International Journal of Robotics Research, August 1, 2002; 21(8): 701 - 712.
[Abstract] [PDF]