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The International Journal of Robotics Research
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Torque-Controlled Lightweight Arms and Articulated Hands: Do We Reach Technological Limits Now?

G. Hirzinger

DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and Mechatronics D-82230 Wessling, Germany Gerd.Hirzinger{at}dlr.de

N. Sporer

DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and Mechatronics D-82230 Wessling, Germany

M. Schedl

DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and Mechatronics D-82230 Wessling, Germany

J. Butterfaß

DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and Mechatronics D-82230 Wessling, Germany

M. Grebenstein

DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and Mechatronics D-82230 Wessling, Germany

In this paper we briefly address DLR’s (German Aerospace Center) background in space robotics by hand of corresponding milestone projects including systems on the International Space Station. We then discuss the key technologies needed for the development of an artificial "robonaut" generation with mechatronic ultra-lightweight arms and multifingered hands. The third arm generation is nearly finished now, approaching the limits of what is technologically achievable today with respect to light weight and power losses. In a similar way DLR’s second generation of artificial four-fingered hands was a big step towards higher reliability, manipulability and overall performance.

Key Words: space-robotics • lightweight robotics • joint/torque control • mechatronics

The International Journal of Robotics Research, Vol. 23, No. 4-5, 331-340 (2004)
DOI: 10.1177/0278364904042201
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