Dual Arm

A large research and development project performed on behalf of (LSR) Munich. The humanoid robot project involved the mechanical fabrication of the robot and the design and implementation of real-time robot control.

Project assumptions:

  • the range of movements of the robot is to reflect the movements of a human hand
  • the dimensions of the main parts of the robot are similar to those of a human hand
  • the weight of the robot should be as low as possible to achieve the required speed of movements and at the same time the required strength
  • control

The design uses:

  • harmonic gears and high resolution encoders in all joints
  • reduced anthropomorphic kinematics with two degrees of freedom
  • torque / speed / position control with 1kHz frequency