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David

David

The anthropomorphic robot David (formerly the DLR Hand Arm System) has joints with Variable Stiffness Actuators (VSA) that have mechanically adjustable flexibility in the drive train. One objective of development is to approach human capabilities, particularly with regard to dynamics, dexterity, and robustness.
The robot was first presented publicly consisting of one arm with hand  in 2010.

Technical data

Size: Adult human
Weight: approx. 26 kg
Degrees of freedom: 41
Actuation: 76 brushless DC motors
Sensors: 165 position sensors
Speed: Comparable to humans
Working space: Comparable to humans
Features: • Robust against impacts due to mechanical springs
• Variable stiffness in all joints
• Weight-performance ratio similar to humans
• Anthropomorphic shape
• Dynamic locomotion through energy storage in the springs


System description

Robotic systems are becoming ever more complex, which increases the risk of costly damages during operation. The increased risk often prevents developers from quickly testing fundamentally new regulatory and planning strategies. In addition, the dynamic characteristics of existing robot systems for dynamic, human-like motion sequences such as running or throwing are insufficient. Conventional actuators cannot provide the peak performance required for this without becoming too large and heavy. We are therefore convinced that great technological leaps in aerospace and service robotics can only be achieved with robotic systems that are robust against “everyday collisions” and have energy storage.

Mechatronics of David


David is an anthropomorphic robot developed at DLR using variable stiffness actuators (VSA). It is intended to approach its human archetype in size, weight, and performance. The focus of the development is on robustness, high dynamics, and dexterity.
Full article

Control


David is a scientific platform to experimentally investigate control methods for variable stiffness robots. The focus of the controller design includes active vibration damping, stiffness control, optimal, and cyclic motion control. Analysis and control of robotic arms and hands are treated.
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Applications


The high dynamics and the robustness of the platform allow to explore new strategies for the planning and the execution. Currently we develop methods for self-awareness, in order to predict the pose and location of the robot itself using computer vision. We bring together advanced control, perception, planning, as well as manipulation skills in order to in order to solve challenging tasks with more complex interaction demands.
Full article

Research Group


People working on the DLR Hand Arm System
Full article

Projects


Related projects
Full article

David - image gallery

David Learning

 

Credit: DLR (CC-BY 3.0).

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Dexterous Manipulation

 

Credit: DLR (CC-BY 3.0).

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David Computer Vision

 

Credit: DLR (CC-BY 3.0).

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Frequency Analysis

 

Credit: DLR (CC-BY 3.0).

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Human-like dexterity

The anthropomorphic robot David is not only about the same size as a human, but also has a similar range of motion. Each joint in the fingers is controlled individually thus lending the system extraordinary manual dexterity.  

Credit: DLR (CC-BY 3.0).

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Human%2dlike dexterity

David drills a hole in concrete

The humanoid robot David autonomously uses an impact drill and a vacuum cleaner to drill a hole in a concrete slab.  

Credit: DLR (CC-BY 3.0).

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David drills a hole in concrete

Anthropomorphic robot David

David is an anthropomorphic robot developed at DLR using variable stiffness actuators (VSA). It is intended to approach its human archetype in size, weight, and performance. The focus of the development is on robustness, high dynamics, and dexterity. 

Credit: DLR (CC-BY 3.0).

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Anthropomorphic robot David

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Selected Publications

Grebenstein, M., Albu-Schäffer, A., Bahls, T., Chalon, M., Eiberger, O., Friedl, W., Gruber, R., Hagn, U., Haslinger, R., Höppner, H., Jörg, S., Nickl, M., Nothhelfer, A., Petit, F., Pleintinger, B., Reil, J., Seitz, N., Wimböck, T., Wolf, S., Wüsthoff, T. and Hirzinger, G., "The DLR Hand Arm System", Robotics and Automation (ICRA), 2011 IEEE International Conference on, Shanghai, China, pp. 3175-3182, May 2011.

Contact
Sebastian Wolf
German Aerospace Center

Institute of Robotics and Mechatronics
, Mechatronic Systems
Oberpfaffenhofen-Weßling

Tel.: +49 8153 28-1060

Fax: +49 8153 28-1134

David
David in our 360° tour
David's hand
Mechatronics
Control
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Downloads
David flyer 2016 (2.02 MB)
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