Development of a New 2 DOF Lightweight Wrist for the Humanoid Robot ARMAR

The mechatronic design of a humanoid robot is fundamentally different from that of industrial robots. Industrial robots generally have to meet requirements such as mechanical stiffness, accuracy and high velocities. The key goal for this humanoid robot is not accuracy, but the ability to cooperate with humans. In order to enable a robot to interact with humans, high standards are set for sensors and control of its movements. The robot’s kinematic properties and range of movements must be adjusted to humans and their environment (Schafer, 2000).

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