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ARMAR-III in a robot kitchen
The humanoid robot ARMAR-III has been designed to help in the Kitchen, e.g. bring objects from the fridge and fill the dishwasher. It has a total of 43 DoF. A mobile platform equipped with three laser scanners allows the robot to navigate the kitchen environment. The arms have 7 DoF each with 8 DoF five fingered hands. A force-torque sensor is available in each wrist. ARMAR-III uses the Karlsruhe Humanoid Head with 7 DoF. For vision, four digital cameras are integrated into the head. Each eye has a wide-angle and narrow-angle camera for peripheral and foveal vision, respectively. There are four PCs inside the mobile base, which run Linux as their operating system. The robot software was originally written in MCA but can also be controlled via the newer ArmarX framework (https://armarx.humanoids.kit.edu). High-level functionality, like object localization, navigation, grasping and planning are already implemented and available.
Key features:
- 5-finger pneumatically actuated hands
- Active head with foveated vision
- Force-control for contact detection
- Advanced grasping and manipulation
- Control architecture with memory and attention system
- Integrated humanoid robot system
Possible applications:
- Manufacturing tasks involving carrying heavy loads
Technical specifications
| Force-torque sensors: | Two 6D force torque sensors from ATI Industiral Automation at the wrists |
| Laser Range-Finders: | Three Hokuyo scanners of type URG-X003S in the mobile base |
| Depth Cameras: | Asus Xtion Pro (RGB-D, 640×480@30PFS) |
| Motors: | DC, Harmonic Drives |
| Color cameras: | Point Grey Research Dragonfly (RGB, 640×480@30FPS, Stereo calibrated) |
| OS: | Ubuntu Linux 14.04 |
| Robotic Framework: | ArmarX (previous framework MCA) |
| Total Weight: | 140kg |
| Bus system: | EtherCAT (100Mbit/s) |
| Software: | ArmarX |
| Network: | Gigabit Ethernet (WLAN for plugless operation) |
| Computers: | 4 PCs inside (1 PC for external control) |
Access information
| Corresponding infrastructure | Karlsruhe Institute of Technology Institute of Anthropomatics and Robotics - High Performance Humanoid Technologies Lab (IAR H2T) |
| Location | Adenauerring 2, |
| Unit of access | Working day |
Additional information
This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 730994
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