Space robotics-driver for a new mechatronic generation of light-weight arms and multifingered hands

摘要

Based on the long term goal "robonauts for space", the paper describes design and development efforts in DLR's robotics lab towards a new generation of "mechatronic" 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; in the same way the second generation a most highly integrated 4 finger-hand is near completion. Thus it is hoped that big steps towards a new generation of space as well as service and personal robots have been achieved.