Abstract
The development of a humanoid robot within the scope of the collaborative research centre 588 has the objective of creating a machine that can cooperate with humans closely. In contrast to industrial robots – for which mechanical rigidity, precision or high velocities are primary requirements – the key aspects here are prevention of hazards to users, a motion space that corresponds to that of human beings, and a lightweight design. In order to meet these requirements, the robot must have humanlike appearance, motion space, and dexterity. This article gives insight into the design of a new wrist for the next generation of the humanoid robot ARMAR. The goals of the development project are both to improve the motion space and to achieve a humanlike appearance. The new mechanical design is described in detail completed by a study of a first prototype.
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Albers, A., Ottnad, J., Sander, C. (2009). New Concept for Wrist Design of the Humanoid Robot ARMAR. In: Kröger, T., Wahl, F.M. (eds) Advances in Robotics Research. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-01213-6_16
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DOI: https://doi.org/10.1007/978-3-642-01213-6_16
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