Programming of Manipulation Tasks of the Humanoid Robot ARMAR

Abstract

An autonomous mobile humanoid robot able to assist in a workshop environment and interact with human beings, must have the basic capability of learning manipulation tasks by demonstration. In this paper two aspects to reach this goal are considered. First we describe how the mechanics must be constructed to manipulate objects like humans do. Then we propose an approach to transfer human arm movements of typical manipulation tasks to the humanoid robot ARMAR. In order to support our concept the anthropomorphic humanoid robot ARMAR is developed. 1