Mechanism Design of DLR Humanoid Robots

Abstract

This chapter provides an overview on the development process from lightweight manipulators toward anthropomorphic humanoid robots at the German Aerospace Center – DLR. The technological basis for these robots is a modular drive concept based on a tight mechatronic integration of brushless DC motors, harmonic drive gears, and link-side joint torque sensors. The feedback of the joint torque allows to generate a back-drivable behavior, which facilitates the implementation of highly sensitive impedance controllers. Compliant control is the basis for safe and dependable operation of these robots during physical interaction with the environment and with humans. This chapter summarizes the mechatronic design concepts as well as the basic control and planning strategies of two torque-controlled humanoid robots developed at DLR, the wheeled robot Rollin’ Justin, and the biped robot Toro.