A humanoid two-arm system for dexterous manipulation

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

184 Scopus citations

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.

Original languageEnglish
Title of host publicationProceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS
Pages276-283
Number of pages8
DOIs
StatePublished - 2006
Externally publishedYes
Event2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS - Genoa, Italy
Duration: 4 Dec 20066 Dec 2006

Publication series

NameProceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS

Conference

Conference2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS
Country/TerritoryItaly
CityGenoa
Period4/12/066/12/06

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