A Humanoid Two-Arm System for Dexterous Manipulation

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...

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Bibliographic Details
Main Authors: Ott, C., Eiberger, O., Friedl, W., Bauml, B., Hillenbrand, U., Borst, C., Albu-Schaffer, A., Brunner, B., Hirschmuller, H., Kielhofer, S., Konietschke, R., Suppa, M., Wimbock, T., Zacharias, F., Hirzinger, G.
Format: Conference Proceeding
Language:English
Subjects:
Arm
Control systems
Humanoid robots
Humans
Image analysis
Mechatronics
Software architecture
Torso
Unified modeling language
Visual system
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Summary: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
ISSN:2164-0572
DOI:10.1109/ICHR.2006.321397