ARMAR-6: A Collaborative Humanoid Robot for Industrial Environments

We present the collaborative humanoid robot ARMAR-6, which has been developed to perform a wide variety of complex maintenance tasks in industrial environments, collaborating with human workers. We present the hardware, software, and functional architecture of the robot as well as its current abilit...

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Bibliographic Details
Main Authors: Asfour, Tamim, Kaul, Lukas, Wachter, Mirko, Ottenhaus, Simon, Weiner, Pascal, Rader, Samuel, Grimm, Raphael, Zhou, You, Grotz, Markus, Paus, Fabian, Shingarey, Dmitriy, Haubert, Hans
Format: Conference Proceeding
Language:English
Subjects:
Brushless DC motors
Real-time systems
Robot sensing systems
Task analysis
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Summary:We present the collaborative humanoid robot ARMAR-6, which has been developed to perform a wide variety of complex maintenance tasks in industrial environments, collaborating with human workers. We present the hardware, software, and functional architecture of the robot as well as its current abilities. Those include the recognition of the need of help of a human worker, the execution of maintenance plans, compliant bimanual manipulation, vision-based grasping, fluent object handover, human activity recognition, natural dialog, navigation and more. We demonstrate the high level of technology readiness for real world applications in a complex demonstration scenario, shown more than 50 times at the CEBIT 2018 exhibition.
ISSN:2164-0580
DOI:10.1109/HUMANOIDS.2018.8624966