To develop a robotic system for a complex task is a time-consuming process. Merging methods available today, a new approach for a faster realization of a multi-finger soft robotic hand is presented here. This paper introduces a robotic hand with four fingers and 12 Degrees of Freedom (DoFs) using bellow actuators. The hand is generated via Selective Laser Sintering (SLS), an Additive Manufacturing method. The complex task execution of a specific action, i.e. the lifting, rotating and precise positioning of a handling-object with this robotic hand, is used to structure the whole development process. To validate reliable functionality of the hand from the beginning, each development stage is SLS-generated and the targeted task execution is trained via Reinforcement Learning, a machine learning approach. Optimization points are subsequently derived and fed back into the hardware development. With this Concurrent Engineering strategy a fast development of this robotic hand is possible. The paper outlines the relevant key strategies and gives insight into the design process. At the end, the final hand with its capabilities is presented and discussed.
The integration of industrial robot systems into the manufacturing environments of small and medium sized enterprises is a key requirement to guarantee competitiveness and productivity. Due to the still complex and time-consuming procedure of robot path definition, novel programming strategies are needed, converting the robotic system into a flexible coworker that actively supports its operator. In this paper, a learning-from-demonstration strategy based on Hidden Markov Models is presented, which permits the robot system to adapt to user- as well as process-specific features. To evaluate the suitability of this approach for smalI-lot production, the learning strategy has been implemented for an arc welding robot and has been evaluated on-site at a medium sized metal-working company
For the constantly growing service robotic market there is a demand for new energy-efficient and economically priced actuation-concepts. This paper describes the QuadHelix-Drive, a novel rope actuator of high power density with a simple working principle. It highlights the technical challenges, which evolved while examining the DoHelix-Muscle-Concept. A strategy to overcome these challenges and a prototypic mechanical realization of this new actuator concept are illustrated. The integration of the QuadHelix-Drive into the Fraunhofer IPA testing facility is described and at the end possible robotic application scenarios are outlined.
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