A Humanoid Two-Arm System for Dexterous Manipulation

Author

Ott, Ch ; Eiberger, O. ; Friedl, W. ; Bäuml, B. ; Hillenbrand, U. ; Borst, Ch ; Albu-Schaffer, Alin ; Brunner, B. ; Hirschmüller, H. ; Kielhöfer, S. ; Konietschke, R. ; Suppa, M. ; Wimböck, T. ; Zacharias, F. ; Hirzinger, G.

Author_Institution

German Aerosp. Center, Inst. of Robotics & Mechatronics, Wessling

fYear

2006

Firstpage

276

Lastpage

283

Abstract

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

Keywords

dexterous manipulators; humanoid robots; robot vision; software architecture; DLR-Hand-II; DLR-Lightweight-Robot-III; dexterous manipulation; humanoid two-arm system; movable torso; robot vision; scene analysis; software architecture; visual system; Arm; Control systems; Humanoid robots; Humans; Image analysis; Mechatronics; Software architecture; Torso; Unified modeling language; Visual system;

fLanguage

English

Publisher

ieee

Conference_Titel

Humanoid Robots, 2006 6th IEEE-RAS International Conference on

Conference_Location

Genova

Print_ISBN

1-4244-0200-X

Electronic_ISBN

1-4244-0200-X

Type

conf

DOI

10.1109/ICHR.2006.321397

Filename

4115614