A humanoid upper body system for two-handed manipulation

Christoph Borst; Christian Ott; Thomas Wimböck; Bernhard Brunner; Franziska Zacharias; Berthold Bäuml; Ulrich Hillenbrand; Sami Haddadin; Alin Albu-Schäffer; Gerd Hirzinger

doi:10.1109/ROBOT.2007.363886

A humanoid upper body system for two-handed manipulation

Christoph Borst
, Christian Ott
, Thomas Wimböck
, Bernhard Brunner
, Franziska Zacharias
, Berthold Bäuml
, Ulrich Hillenbrand
, Sami Haddadin
, Alin Albu-Schäffer
, Gerd Hirzinger

Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)

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

53 Scopus citations

Abstract

This video presents a humanoid two-arm system developed as a research platform for studying dexterous twohanded 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. The diversity of the system is demonstrated by showing the mechanical design, several control concepts, the application of rapid prototyping and hardware-in-the-loop (HIL) development as well as two-handed manipulation experiments and the integration of path planning capabilities.

Original language	English
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages	2766-2767
Number of pages	2
DOIs	https://doi.org/10.1109/ROBOT.2007.363886
State	Published - 2007
Externally published	Yes
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: 10 Apr 2007 → 14 Apr 2007

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/Territory	Italy
City	Rome
Period	10/04/07 → 14/04/07

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

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10.1109/ROBOT.2007.363886

Cite this

Borst, C., Ott, C., Wimböck, T., Brunner, B., Zacharias, F., Bäuml, B., Hillenbrand, U., Haddadin, S., Albu-Schäffer, A., & Hirzinger, G. (2007). A humanoid upper body system for two-handed manipulation. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 2766-2767). Article 4209504 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.363886

@inproceedings{264d91667f4f44a48a32578df6dce02d,

title = "A humanoid upper body system for two-handed manipulation",

abstract = "This video presents a humanoid two-arm system developed as a research platform for studying dexterous twohanded 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. The diversity of the system is demonstrated by showing the mechanical design, several control concepts, the application of rapid prototyping and hardware-in-the-loop (HIL) development as well as two-handed manipulation experiments and the integration of path planning capabilities.",

author = "Christoph Borst and Christian Ott and Thomas Wimb{\"o}ck and Bernhard Brunner and Franziska Zacharias and Berthold B{\"a}uml and Ulrich Hillenbrand and Sami Haddadin and Alin Albu-Sch{\"a}ffer and Gerd Hirzinger",

year = "2007",

doi = "10.1109/ROBOT.2007.363886",

language = "English",

isbn = "1424406021",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "2766--2767",

booktitle = "2007 IEEE International Conference on Robotics and Automation, ICRA'07",

note = "2007 IEEE International Conference on Robotics and Automation, ICRA'07 ; Conference date: 10-04-2007 Through 14-04-2007",

}

Borst, C, Ott, C, Wimböck, T, Brunner, B, Zacharias, F, Bäuml, B, Hillenbrand, U, Haddadin, S , Albu-Schäffer, A & Hirzinger, G 2007, A humanoid upper body system for two-handed manipulation. in 2007 IEEE International Conference on Robotics and Automation, ICRA'07., 4209504, Proceedings - IEEE International Conference on Robotics and Automation, pp. 2766-2767, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 10/04/07. https://doi.org/10.1109/ROBOT.2007.363886

A humanoid upper body system for two-handed manipulation. / Borst, Christoph; Ott, Christian; Wimböck, Thomas et al.
2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 2766-2767 4209504 (Proceedings - IEEE International Conference on Robotics and Automation).

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

TY - GEN

T1 - A humanoid upper body system for two-handed manipulation

AU - Borst, Christoph

AU - Ott, Christian

AU - Wimböck, Thomas

AU - Brunner, Bernhard

AU - Zacharias, Franziska

AU - Bäuml, Berthold

AU - Hillenbrand, Ulrich

AU - Haddadin, Sami

AU - Albu-Schäffer, Alin

AU - Hirzinger, Gerd

PY - 2007

Y1 - 2007

N2 - This video presents a humanoid two-arm system developed as a research platform for studying dexterous twohanded 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. The diversity of the system is demonstrated by showing the mechanical design, several control concepts, the application of rapid prototyping and hardware-in-the-loop (HIL) development as well as two-handed manipulation experiments and the integration of path planning capabilities.

AB - This video presents a humanoid two-arm system developed as a research platform for studying dexterous twohanded 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. The diversity of the system is demonstrated by showing the mechanical design, several control concepts, the application of rapid prototyping and hardware-in-the-loop (HIL) development as well as two-handed manipulation experiments and the integration of path planning capabilities.

UR - https://www.scopus.com/pages/publications/36348936694

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DO - 10.1109/ROBOT.2007.363886

M3 - Conference contribution

AN - SCOPUS:36348936694

SN - 1424406021

SN - 9781424406029

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 2766

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BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07

T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07

Y2 - 10 April 2007 through 14 April 2007

ER -

A humanoid upper body system for two-handed manipulation

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