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 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.

[1]  Michi Henning,et al.  A new approach to object-oriented middleware , 2004, IEEE Internet Computing.

[2]  Tamim Asfour,et al.  Highly integrated sensor-actuator-controller units for modular robot design , 2017, 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM).

[3]  Aude Billard,et al.  A human-inspired controller for fluid human-robot handovers , 2016, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids).

[4]  Shigeki Toyama,et al.  International Conference on Intelligent Robots and Systems Design of the TUAT / Karlsruhe Humanoid Hand , 2004 .

[5]  Aude Billard,et al.  A dynamical system approach to task-adaptation in physical human–robot interaction , 2019, Auton. Robots.

[6]  Mirko Wächter,et al.  The robot software framework ArmarX , 2015, it Inf. Technol..

[7]  Shigeki Toyama,et al.  Development of a five-finger dexterous hand without feedback control: The TUAT/Karlsruhe humanoid hand , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Tamim Asfour,et al.  Design of a high-performance humanoid dual arm system with inner shoulder joints , 2016, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids).

[9]  Tamim Asfour,et al.  Coordinate Change Dynamic Movement Primitives — A leader-follower approach , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).