Oliver Eiberger

German Aerospace Center (DLR), Köln, North Rhine-Westphalia, Germany

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Publications (20)

  • Article · Jun 2015 · Mechanical engineering (New York, N.Y.: 1919)
  • [Show abstract] [Hide abstract] ABSTRACT: This paper gives an overview on the torquecontrolled humanoid robot TORO, which has evolved from the former DLR Biped. In particular, we describe its mechanical design and dimensioning, its sensors, electronics and computer hardware. Additionally, we give a short introduction to the walking and multi-contact balancing strategies used for TORO.
    Conference Paper · Nov 2014
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    [Show abstract] [Hide abstract] ABSTRACT: Variable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an unknown and dynamic environment including humans require actuators with dynamics that are not well-achieved by classical stiff actuators. This paper presents an overview of the different VIAs developed and proposes a classification based on the principles through which the variable stiffness and damping are achieved. The main classes are active impedance by control, inherent compliance and damping actuators, inertial actuators, and combinations of them, which are then further divided into subclasses. This classification allows for designers of new devices to orientate and take inspiration and users of VIA’s to be guided in the design and implementation process for their targeted application.
    Full-text Article · Dec 2013 · Robotics and Autonomous Systems
  • Christian Ott · Oliver Eiberger · Johannes Englsberger · [...] · Alin Albu-Schäffer
    Article · May 2012
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    Conference Paper: The DLR hand arm system
    [Show abstract] [Hide abstract] ABSTRACT: An anthropomorphic hand arm system using variable stiffness actuation has been developed at DLR. It is aimed to reach its human archetype regarding size, weight and performance. The main focus of our development is put on robustness, dynamic performance and dexterity. Therefore, a paradigm change from impedance controlled, but mechanically stiff joints to robots using intrinsic variable compliance joints is carried out. Collisions of the rigid joint robot at high speeds with stiff objects induce the energy too fast for an active controller to prevent damages. In contrast, passively compliant robots are able to temporarily store energy. In this case the resulting internal forces applied to the robot structure and the drive trains are reduced. Furthermore, the energy storage allows to outperform the dynamics of stiff robots. The hand drives and the electronics are completely integrated within the forearm. Extremely miniaturized electronics have been developed to drive the 52 motors of the system and interface their sensors. Several variable stiffness actuation principles used in the arm joints and the hand are presented. The paper highlights the different requirements that they have to fulfill. A first test of the systems robustness and dynamics has been performed by driving nails with a grasped hammer and is demonstrated in the attached video.
    Full-text Conference Paper · Jun 2011
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    [Show abstract] [Hide abstract] ABSTRACT: The mobile humanoid Rollin'Justin is a versatile experimental platform for research in manipulation tasks. Previously, different state of the art control methods and first autonomous task execution scenarios have been demonstrated. In this video two new applications with challenging task requirements are presented. One is the catching of one or even two flying balls using all of Justin's degrees of freedom. The other is the autonomous preparation of coffee. Both applications need adequate sensors to support local referencing. The required precision in position and timing is realized in software, using the sensor information, taking the varying precision of Justin's kinematic sub-chains into account and handling all timings in sub-millisecond range.
    Full-text Conference Paper · May 2011
  • Sebastian Wolf · Oliver Eiberger · Gerd Hirzinger
    [Show abstract] [Hide abstract] ABSTRACT: Bringing mechanically compliant joints to robots is in the focus of interest world wide, especially in the humanoid robotics community. Variable Stiffness Joints (VSJ) promise to gain a high performing and robust robotic system. The presented DLR Floating Spring Joint (FSJ) is a VSJ module designed for the first 4 axes of the anthropomorphic DLR Hand Arm System. The DLR Hand Arm System aims to match the skills of its natural archetype. For this purpose, the joints have to be extremely compact to fit into the arm. At the same time they require a high power density in order to approximate the human arm skills. The new DLR FSJ is designed completely from an energy based point of view. This addresses not only energy efficient components and low friction design, but also that the potential energy of the spring is used as good as possible. A demonstration of robustness is given by the investigation of a blunt impact to the tip of the arm.
    Conference Paper · May 2011
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    [Show abstract] [Hide abstract] ABSTRACT: This paper gives an overview of the development of a novel biped walking machine. The robot is designed as an experimental system for studying biped locomotion based on torque controlled joints. As an underlying drive technology, the torque controlled joint units of the DLR-KUKA-Lightweight-Robot are employed. The relevant design choices for using this technology in a biped robot with integrated joint torque sensors are highlighted and some first experimental results using a conventional ZMP based control scheme are discussed.
    Full-text Conference Paper · Jan 2011
  • [Show abstract] [Hide abstract] ABSTRACT: In this paper we present various new insights on the effect intrinsic joint elasticity has on safety in pHRI. We address the fact that the intrinsic safety of elastic mechanisms has been discussed rather one sided in favor of this new designs and intend to give a more differentiated view on the problem. An important result is that intrinsic joint elasticity does not reduce the Head Injury Criterion or impact forces compared to conventional actuation with some considerable elastic behavior in the joint, if considering full scale robots. We also elaborate conditions under which intrinsically compliant actuation is potentially more dangerous than rigid one. Furthermore, we present collision detection and reaction schemes for such mechanisms and verify their effectiveness experimentally.
    Conference Paper · Nov 2010
  • [Show abstract] [Hide abstract] ABSTRACT: With the mobile humanoid robot Justin DLR presents a platform capable of sensitive manipulation of everyday objects. The considerations and fundamental design decisions for the mechatronic development of the system are presented. Furthermore, it is shown how the sensory information can be used for passivity-based control. In this way a compliant behavior of the robot in task space can be achieved. This allows for sensitive adjustments to unknown environments. Some exemplary applications and experiments demonstrate how these properties can simplify the programming of such complex robotic systems.
    Article · Nov 2010 · at - Automatisierungstechnik
  • Oliver Eiberger · Sami Haddadin · Michael Weis · [...] · Gerd Hirzinger
    [Show abstract] [Hide abstract] ABSTRACT: In this paper we introduce a classification of intrinsically compliant joint mechanisms. Furthermore, we outline design considerations for realizing such devices in order to match the requirements for robust and performant actuation. Based on this elaboration, a new design concept is presented, the DLR QA-Joint. Its performance is investigated by various experiments, covering velocity increase using the elastic energy, joint protection capabilities, and control performance.
    Conference Paper · Jun 2010
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    Alin Albu-Schäffer · Sebastian Wolf · Oliver Eiberger · [...] · Maxime Chalon
    [Show abstract] [Hide abstract] ABSTRACT: After briefly summarizing the mechanical design of the two joint prototypes for the new DLR variable compliance arm, the paper exemplifies the dynamic modelling of one of the prototypes and proposes a generic variable stiffness joint model for nonlinear control design. Based on this model, the design of a simple, gain scheduled state feedback controller for active vibration damping of the mechanically very weakly damped joint is presented. Moreover, the computation of the motor reference values out of the desired stiffness and position is addressed. Finally, simulation and experimental results validate the proposed methods.
    Full-text Conference Paper · May 2010
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    Rainer Bischoff · Johannes Kurth · Günter Schreiber · [...] · Gerd Hirzinger
    [Show abstract] [Hide abstract] ABSTRACT: Transforming research results into marketable products requires considerable endurance and a strong sense of entrepreneurship. The KUKA Lightweight Robot (LWR) is the latest outcome of a bilateral research collaboration between KUKA Roboter, Augsburg, and the Institute of Robotics and Mechatronics at the German Aerospace Center (DLR), Wessling. The LWR has unique characteristics including a low mass-payload ratio and a programmable, active compliance which enables researchers and engineers to develop new industrial and service robotics applications with unprecedented performance, making it a unique reference platform for robotics research and future manufacturing. The stages of product genesis, the most innovative features and first application examples are presented.
    Full-text Conference Paper · Jan 2010
  • Rainer Bischoff · Johannes Kurth · Günter Schreiber · [...] · Gerd Hirzinger
    [Show abstract] [Hide abstract] ABSTRACT: Transforming research results into marketable products requires considerable endurance and a strong sense of entrepreneurship. The KUKA lightweight robot (LWR) is the latest outcome of a bilateral research collaboration between KUKA Roboter, Augsburg, and the Institute of Robotics and Mechatronics at the German Aerospace Center (DLR), Oberpfaffenhofen. The stages of product genesis, the most innovative features and first application examples are presented.
    Article · Jan 2010 · at - Automatisierungstechnik
  • Rainer Bischoff · Johannes Kurth · Günter Schreiber · [...] · Gerd Hirzinger
    Article · Jan 2010 · at - Automatisierungstechnik
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    Alin Albu-Schäffer · Oliver Eiberger · Matthias Fuchs · [...] · et al
    [Show abstract] [Hide abstract] ABSTRACT: The paper gives an overview on the developments at the German Aerospace Center DLR towards anthropomorphic robots which not only try to approach the force and velocity performance of humans, but also have similar safety and robustness features based on a compliant behaviour.We achieve this compliance either by joint torque sensing and impedance control, or, in our newest systems, by compliant mechanisms (so called VIA - variable impedance actuators), whose intrinsic compliance can be adjusted by an additional actuator. Both approaches required highly integrated mechatronic design and advanced, nonlinear control and planning strategies, which are presented in this paper.
    Full-text Conference Paper · Jan 2009
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    Alin Albu-Schaffer · Oliver Eiberger · Markus Grebenstein · [...] · Gerd Hirzinger
    [Show abstract] [Hide abstract] ABSTRACT: In this article, we gave an overview on the DLR activities related to two approaches for the realization of soft robotics: actively torque-controlled LWRs and VSA. On the basis of our experience with torque-controlled robots, we presented an analysis on expected advantages and also disadvantages of VSA actuators. Furthermore, two VSA joint designs motivated by this analysis were presented. Torque-controlled robots currently represent a technology mature enough for the market, but we believe that impressive research progress can be expected in the area of VSA-actuated robots in the next decade.
    Full-text Article · Oct 2008 · IEEE Robotics & Automation Magazine
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    Heiko Panzer · Oliver Eiberger · Markus Grebenstein · [...] · Patrick Smagt van der
    [Show abstract] [Hide abstract] ABSTRACT: At the Institute of Robotics and Mechatronics of the German Aerospace Center (DLR Oberpfaffenhofen), a robotic hand-arm system is being developed, which will consist of a 19 active degree-of-freedom (DoF) hand and a 7 active DoF flexible arm based on antagonistic drive principles. It is targeted to mimic human hand and arm motion as closely as possible, taking kinematic as well as dynamic ranges into account. In the development of such a highly anthropomorphic hand- arm system, the motion of the human arm plays a key role. While the study of kinematic and dynamic ranges in humans has been done in various sources in litera- ture, none of these are however directly applicable to the developed robotic system. We approached this problem by using RAMSIS data recorded at the Department of Ergonomics at the technical university of Munich. By creating a three-dimensional multi-mode visualisation tool, these data were made available for laying out the dimensions and localisations of the 52 actuators that control the hand-arm system.
    Full-text Conference Paper · Sep 2008
  • Alin Albu-Schäffer · Oliver Eiberger · Markus Grebenstein · [...] · Gerd Hirzinger
    Article · Jan 2008
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    Christian Ott · Oliver Eiberger · Werner Friedl · [...] · Gerd Hirzinger
    [Show abstract] [Hide abstract] ABSTRACT: This paper presents a humanoid two-arm system developed as a research platform for studying dexterous two-handed manipulation. The system is based on the modular DLR-Lightweight-Robot-III and the DLR-Hand-II. Two arms and hands are combined with a three degrees-of-freedom movable torso and a visual system to form a complete humanoid upper body. In this paper we present the design considerations and give an overview of the different sub-systems. Then, we describe the requirements on the software architecture. Moreover, the applied control methods for two-armed manipulation and the vision algorithms used for scene analysis are discussed.
    Full-text Conference Paper · Jan 2007