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ARMAR 6

ARMAR-6 is a collaborative humanoid robot assistant for industrial environments. Designed to recognize the need of help and to allow for an easy and safe human-robot interaction, the robot’s comprehensive sensor setup includes various camera systems, torque sensors and systems for speech recognition. The dual arm system combines human-like kinematics with a payload of 10 kg which allows for dexterous and high-performant dual arm manipulation. In combination with its telescopic torso joint and a pair of underactuated five-finger hands, ARMAR-6 is able to grasp objects on the floor as well as to work in a height of 240 cm. The mobile platform includes holonomic wheels, battery packs and four high-end PCs for autonomous on-board data processing.The software architecture is implemented in ArmarX (https://armarx.humanoids.kit.edu). High-level functionality, like object localization, navigation, grasping and planning are already implemented and available.

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Key features:

Holonomic movement of the mobile platform
Various control modes enable the execution of precise and torque/force-controlled motions
Dexterous arm system with 2×8 DoF for dual arm manipulation
Limitless rotation in shoulder, upper arm and forearm
Control architecture with memory and attention system
Underactuated five-finger hands

Possible applications:

AI: symbolic planning and execution monitoring
Cognitive robotics: learning multimodal representations, affordances
Physical human-robot interaction
Semantic scene understanding and affordance extraction
Task space impedance control
Gravity compensated torque control
Dual arm manipulation
Force and torque based control and interaction
Natural speech dialog
Human-robot interaction
Vision-based grasping and deep learning for grasping
Imitation Learning, Programming by demonstration

Technical specifications

Arm range:	130 cm
Total Weight:	160 kg (without battery packs)
Arm span width:	310 cm
Payload (single arm):	10 kg (long range), 14 kg (mid range)
Computers:	4 high-end PCs, 1 GPU
Robotic Framework:	ArmarX (previous framework MCA)
Total Height:	192 cm
Software:	ArmarX (https://www.armarx.humanoids.kit.edu)
Working height:	0 – 240 cm
Platform speed:	1 m/s
Bus system:	CAN-Bus (CANopen)
DoF:	27

Access information

Corresponding infrastructure	Karlsruhe Institute of Technology Institute of Anthropomatics and Robotics - High Performance Humanoid Technologies Lab (IAR H2T)
Location	Adenauerring 2, 76131 Karlsruhe, Germany
Unit of access	Working day