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Intrinsic Joint Compliance

  • Chapter
Towards Safe Robots

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 90))

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Abstract

Human-friendly robots are usually characterized either by active compliance control or intrinsically compliant behavior. Active compliance control has already reached a mature stage and recently went to market. Intrinsic compliance on the other hand is currently investigated in several large European projects and other research projects worldwide. Due to the significant increase in mechanical design complexity, the additional degrees of freedom needed for adjusting stiffness and related questions regarding control, there are still several open issues to be addressed in order to validate the VIA concept. DLR is currently developing an integrated hand-arm system [1, 13], which will be fully equipped with variable stiffness actuation, see Fig. 10.1.

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Authors and Affiliations

  1. Robotics and Mechatronics Center, German Aerospace Center (DLR), 82230, Wessling, Germany

    Sami Haddadin

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  1. Sami Haddadin
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Correspondence to Sami Haddadin .

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Haddadin, S. (2014). Intrinsic Joint Compliance. In: Towards Safe Robots. Springer Tracts in Advanced Robotics, vol 90. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40308-8_10

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  • DOI: https://doi.org/10.1007/978-3-642-40308-8_10

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-40307-1

  • Online ISBN: 978-3-642-40308-8

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