Robonatus need light-weight arms and articulated hands

A B S T R A C T The paper describes recent design and development efforts in DLR’s robotics lab towards a new generation of “mechatronic” ultra-light weight robots with articulated hands. The design of fully sensorized joints with complete state feedback and the underlying mechanisms are outlined. The second light-weight arm generation is available now; in the same way the second generation a most highly integrated 4 finger-hand is near completion. Thus it is hoped that big steps towards a new generation of space as well as service and personal robots have been achieved.

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