DLR - Institute of Robotics and Mechatronics

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Historie

	DLR VR-SCAN (2011) A versatile and robust miniaturized laser scanner for short-range 3- D modeling and exploration in robotics.
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	SpaceJustin SpaceJustin is a humanoid upper body consisting of two Light-Weight Robot arms, two DLR-HIT Hands II, a torso and a head. Equipped with various force and optical sensors it can be operated in telemanipulation and shared autonomy modes.
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The DLR Multisensory 3D-Modeller (2006–2017)

The multisensory 3D modeller was developed to evaluate different sensor principles and sensor fusion for the generation of photorealistic 3D models. The Modeller can be used hand-guided or automated on a robotic system. Thus, robots should be able to build a photorealistic model of their environment by moving around an end effector equipped with different sensors (a so-called Eye-in-Hand system).

	Ball Catcher (2004) The DLR Robotic Ballcatcher was developed to demonstrate the dynamical capabilities of the DLR light-weight arm and hand. The robot can catch a ball, that is thrown onto the robot by a benevolent thrower. The ball is observed by a large baseline stereo camera, comparing each image to a slowly adapting reference image.
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	DLR/HIT Hand Based on DLR Hand II HIT (Harbin Institute of Technology) and DLR developed a multisensory robot hand.
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	Force-Feedback Joystick (2003–2010) Numerous simple command tasks in telerobotics and telepresence can be accomplished with human machine interfaces with a maximum of two or three degrees of freedom (DoF). For this kind of applications the joystick represents a very intuitive way to command a teleoperator or an object within a virtual environment in two DoF.
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	Laser-stripe Profiler (2003‒2007) The fundamental principle of the range sensing by optical triangulation is illustrated in the figure below. A focused plane of laser light illuminates a stripe when colliding with the surface of an object. A CCD camera (in our case without optical filtering) records the reflection.
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	KineMedic (2002–2006) The DLR KineMedic, developed at the DLR Institute of Robotics and Mechatronics from 2002 to 2006, is the antecessor of the DLR MIRO. It is a compact, lightweight robot for neurology and spine surgery, which offers seven degrees of freedom and a payload of 30 N.
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Robutler (2002–2005)

In the aging societies of the industrialized world, there will be an increasing demand for intelligent machines performing services in interaction or collaboration with humans. These machines will share with us our living environment and will have to perform everyday tasks in human-like manners. As a consequence, in the field of service robotics, systems are needed that can handle everyday objects in unconstraint environments, in much the same way as they are handled by humans.

DLR Heart (2002–2004)

Cardiovascular failure is the most frequent death cause in Germany. In Bavaria, about 60.000 persons die annually on the cause of cardiovascular diseases, this corresponds to approx. 50% of all deaths. A possibility of treatment is the implantation of ventricular assist devices. Those " Artificial hearts " should not be, in this connection, an entire substitute with the natural organ.

	Miniature Force-Torque Sensor The miniature six-component force/torque sensor with full digital output has been developed for the fingertip of the new generation dexterous robot hand DLR Hand-II.
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	DLR 3D Modellierer 1 (2001) Our first multisensory 3D modeller integrated the laser-range scanner, a texture sensor (calibrated CCD miniature head camera), a laser-stripe sensor, using another camera in combination with a line laser module (opening angle 60°, 635nm wavelength) and a stereo vision sensor.
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DLR Laser Range Scanner (2000)

The DLR Laser Range Scanner is a device for the exploration of three-dimensional environments. It uses the principle of laser triangulation, as shown in Figure 1. A laser beam is send from a source and will be dispersed diffusely on the scanned object's surface. Some of the reflected rays strike a lens which focuses the light onto a sensitive area of a position sensitive detector (PSD).

	Light-Weight Robot II (1998–2002) The DLR Light-Weight Robot II, firstly presented at the 2000 Hanover Fair, offered an until then unmatched ratio of payload to total mass. It could move a payload of 7 kg at full speed but weighed only 18 kg.
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DLR Hand I (1998)

The DLR Hand I was the immediate predecessor of the DLR Hand II. Each finger shows up a 2-dof cardanic base joint realized by special designed linear actuators (artificial muscles) and a third actuator of this type integrated into the bottom finger link, thus, actuating the second link actively and, by elaborate coupling via a spring, the third link passively. The anthropromorphic fingertips are of crucial importance for grasping and manipulation, thus they are modular and easily exchangeable with specially adapted versions. Following our mechatronic design principles, literally every millimeter in the fingers is occupied by sensing, actuation and electronic preprocessing technology.

	ESS Immediately after ROTEX, we started to build up laboratory experiments for studying the dynamical behaviour and the rendezvous and docking capabilities of a free-flying servicing satellite, consisting of a robot arm mounted on a conventional chaser. A free-flying tele-robot ESS (Experimental Servicing Satellite) was supposed to approach, inspect, and repair a malfunctioning satellite.
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Light-Weight Robot 1 (1991–1996)

The researchers at the Institute for Robotics and Mechatronics have developed the first robotic system which flew in space. However, the robot, which was developed by Dornier, was not able to move its own weight on earth. For training astronauts, a light, flexible robot was needed. That was the point of time when the idea was born to develop the first light-weight robot (LWR I). Although the development was pushed by space robotic requirements, the light-weight robot had its breakthrough with terrestrial applications.

ROTEX (1988–1993)

ROTEX (Robot Technology Experiment on Spacelab D2-Mission) was kind of a starting shot for Germany’s participation in space automation and robotics. It contained as much sensor-based on-board autonomy as possible, but on the other side it presumed that for many years cooperation between man and machine, based on powerful telerobotic structures, will be the foundation of high-performance space robot systems, operable especially from ground.

SpaceMouse (1981–1993)

At the end of the seventies, the DLR institute for robotics and mechatronics started research on devices for the 6 DoF control of robot grippers in Cartesian space. In 1982-1985, the first prototype applications showed that DLR's control ball was not only excellently suited as a control device for robots, but also for the first 3D-graphics system that came onto the market at that time.

DLR VR-SCAN (2011)

SpaceJustin

The DLR Multisensory 3D-Modeller (2006–2017)

Ball Catcher (2004)

DLR/HIT Hand

Force-Feedback Joystick (2003–2010)

Laser-stripe Profiler (2003‒2007)

KineMedic (2002–2006)