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

doi:10.1109/ICHR.2006.321397

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

Deutsches Zentrum für Luft- und Raumfahrt (DLR)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

186 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 language	English
Title of host publication	Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS
Pages	276-283
Number of pages	8
DOIs	https://doi.org/10.1109/ICHR.2006.321397
State	Published - 2006
Externally published	Yes
Event	2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS - Genoa, Italy Duration: 4 Dec 2006 → 6 Dec 2006

Publication series

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

Conference

Conference	2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS
Country/Territory	Italy
City	Genoa
Period	4/12/06 → 6/12/06

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10.1109/ICHR.2006.321397

Cite this

Ott, C., Eiberger, O., Friedl, W., Bäuml, B., Hillenbrand, U., Borst, C., Albu-Schäffer, A., Brunner, B., Hirschmüller, H., Kielhöfer, S., Konietschke, R., Suppa, M., Wimböck, T., Zacharias, F., & Hirzinger, G. (2006). A humanoid two-arm system for dexterous manipulation. In Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS (pp. 276-283). Article 4115614 (Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS). https://doi.org/10.1109/ICHR.2006.321397

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title = "A humanoid two-arm system for dexterous manipulation",

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.",

author = "Ch Ott and O. Eiberger and W. Friedl and B. B{\"a}uml and U. Hillenbrand and Ch Borst and A. Albu-Sch{\"a}ffer and B. Brunner and H. Hirschm{\"u}ller and S. Kielh{\"o}fer and R. Konietschke and M. Suppa and T. Wimb{\"o}ck and F. Zacharias and G. Hirzinger",

year = "2006",

doi = "10.1109/ICHR.2006.321397",

language = "English",

isbn = "142440200X",

series = "Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS",

pages = "276--283",

booktitle = "Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS",

note = "2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS ; Conference date: 04-12-2006 Through 06-12-2006",

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Ott, C, Eiberger, O, Friedl, W, Bäuml, B, Hillenbrand, U, Borst, C, Albu-Schäffer, A, Brunner, B, Hirschmüller, H, Kielhöfer, S, Konietschke, R, Suppa, M, Wimböck, T, Zacharias, F & Hirzinger, G 2006, A humanoid two-arm system for dexterous manipulation. in Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS., 4115614, Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS, pp. 276-283, 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS, Genoa, Italy, 4/12/06. https://doi.org/10.1109/ICHR.2006.321397

A humanoid two-arm system for dexterous manipulation. / Ott, Ch; Eiberger, O.; Friedl, W. et al.
Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS. 2006. p. 276-283 4115614 (Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Hillenbrand, U.

AU - Borst, Ch

AU - Albu-Schäffer, A.

AU - Brunner, B.

AU - Hirschmüller, H.

AU - Kielhöfer, S.

AU - Konietschke, R.

AU - Suppa, M.

AU - Wimböck, T.

AU - Zacharias, F.

AU - Hirzinger, G.

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AB - 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.

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Ott C, Eiberger O, Friedl W, Bäuml B, Hillenbrand U, Borst C et al. A humanoid two-arm system for dexterous manipulation. In Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS. 2006. p. 276-283. 4115614. (Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS). doi: 10.1109/ICHR.2006.321397

A humanoid two-arm system for dexterous manipulation

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