David

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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. 55 kg
Degrees of freedom:
44
Actuation:
83 brushless DC motors
Sensors:
173 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.

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.

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.

Projects

Related projects

The development of David
David in the form of a full humanoid upper body is a result of research and consequent development. It started from the first ideas of variable stiffness actuators and continued with prototypes, multiple generations of hands and body components. Keeping our long term vision of a dexterous and robust service robot in mind, our focus changed from technological basics to skills and finally applications.
Image: 1/7, Credit:
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David AWIWI hand
Fünf-Finger-Hand mit hoher Geschicklichkeit und Feinmotorik.
Image: 2/7, Credit:
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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.
Image: 7/7, Credit:
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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.

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