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Article
DLR MiroSurge: a versatile system for research in endoscopic telesurgery
Research on surgical robotics demands systems for evaluating scientific approaches. Such systems can be divided into dedicated and versatile systems. Dedicated systems are designed for a single surgical task o...
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Chapter and Conference Paper
Tactile Feedback for Artery Detection in Minimally Invasive Robotic Surgery – Preliminary Results of a New Approach
Minimally invasive robotic surgery (MIRS) entails total absence of haptic feedback due to the spatial separation of patient and surgeon. In conventional surgery, however, palpation to detect superficial arteri...
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Chapter
Maschinengestütztes Operieren, Mechatronik und Robotik
Führende Chirurgen weisen daraufhin, dass sich die sogenannte minimal invasive (Schlüsselloch-) Chirurgie bisher nicht so durchgesetzt hat, wie es vor rund 10 Jahren vorausgesagt wurde. Lediglich in Bereichen ...
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Chapter and Conference Paper
All singularities of the 9-DOF DLR medical robot setup for minimally invasive applications
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Chapter
Calculating Human Like Grasp Shapes: Pinch Grasps
Usually, grasp planning can be split up into two phases: In the first phase one tries to find a set of contacts that allow for stable gras** of an object. This phase has been of major research interest, whic...
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Chapter
Touch: The Intuitive Type of Human and Robot Interaction
The mobile service robots will share their workspaces e.g. offices, hospitals or households with humans. Thus a direct contact between man and machine is inevitably. Robots equipped with appropriate sensors ca...
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Chapter and Conference Paper
Achievable Cartesian Stiffness with Passively Compliant, Uncoupled Joints
In the field of service robotics, whole arm contact with an unstructured environment or human beings becomes a major issue. Therefore soft robots, which means robots with passively (or mechanically) compliant ...
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Article
Space Robotics—DLR's Telerobotic Concepts, Lightweight Arms and Articulated Hands
The paper briefly outlines DLR's experience with real space robot missions (ROTEX and ETS VII). It then discusses forthcoming projects, e.g., free-flying systems in low or geostationary orbit and robot systems...
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Chapter and Conference Paper
Torque-controlled Light Weight Arms and Articulated Hands — Do We Reach Technological Limits Now?
Based on the long-term goal “robonauts for space” and the experiences DLR has gained so far in space robotics, the talk describes recent design and development results in DLR’s robotics lab towards a new gener...
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Article
High Precision Constrained Gras** with Cooperative Adaptive Handcontrol
A method for high precision constrained object manoeuvering for non-redundant rigid multifinger hands is proposed. A passivity-based adaptive cooperative control scheme carries out compensation of all uncertai...
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Chapter and Conference Paper
A new Generation of Light-weight Robot Arms and Multifingerd Hands
The keynote lecture describes recent design and development efforts in DLR’s robotics lab towards a new generation of ultra-light weight robots with articulated hands (Fig.1). The design of fully sensorized jo...
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Chapter and Conference Paper
Global konsistente visuelle Lokalisation ohne vorgegebene Karte
Wir präsentieren ein Verfahren, das als Teil des visuellen Lokalisationssystems eines mobilen Roboters dessen Position ohne eine vorab gegebene Karte bestimmen kann. Es erhält von einem Bildverarbeitungsmodul,...
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Chapter and Conference Paper
Sensorimotor Skill Transfer of Compliant Motion
Compliant motion tasks are easily performed by humans. The performance of robot manipulators in executing compliant motion tasks has been assessed by how close and versatile the system operates compared to a h...
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Chapter
An Intuitive Interface for Nullspace Teaching of Redundant Robots
In the growing field of service robotics, redundant manipulator arms provide enormous advantages compared to their non—redundant counterparts. But the fact that no intuitive approaches exist for handling highl...
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Chapter and Conference Paper
Mensch/Maschine-Schnittstelle für intuitives chirurgisches Arbeiten
Es ist für den letzten Vortragenden dieser Sitzung nicht ganz einfach, noch neue Aspekte im Bereich „Mechatronik und Robotik für die Medizin“ zu bringen; vieles ist schon gesagt worden. Ich hoffe trotzdem, daß...
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Chapter and Conference Paper
Stereo Matching by RBF Networks with Occlusion Detection
In this paper, we propose a new solution to the stereo correspondence problem by using both features and intensity values. A cost function is formed by integrating intensity errors, gradient errors, and a smoo...
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Chapter
Singularity Consistent Inverse Kinematics by Enhancing the Jacobian Transpose
Redundant and singular consistent movement is calculated via the Jacobian transposed matrix J T . The proposed algorithm is enhanced by a correction function g and sta...
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Chapter and Conference Paper
DLR’s multisensory articulated hand
The paper outlines DLR’s new 4-finger hand characterized by the fact that all 12 active joints (3 for each finger) are integrated into the fingers or the palm. With 112 sensors, around 1000 mechanical and arou...
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Chapter and Conference Paper
Advanced telerobotics
The paper outlines different approaches to directly interfere with a robot manipulator for generating smooth motions and desired forces in a natural way, be it for on-line control (e.g. in teleoperation) or fo...
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Chapter and Conference Paper
Towards a new Robot Generation
Key items in the development of a new smart robot generation are explained by hand of DLR’s recent activities in robotics research. These items are the design of multisensory gripper and articulated hands syst...
