ARMAR II — A LEARNING AND COOPERATIVE MULTIMODAL HUMANOID ROBOT SYSTEM

摘要

This paper gives an overview on current and forthcoming research activities of the Collaborative Research Center 588 "Humanoid Robots — Learning and Cooperating Multimodal Robots" which is located in Karlsruhe, Germany. Its research activities can be divided into the following areas: mechatronic robot system components like lightweight 7 DOF arms, 5-fingered dexterous hands, an active sensor head and a spine type central body and skills of the humanoid robot system; multimodal man-machine interfaces; augmented reality for modeling and simulation of robots, environment and user; and finally, cognitive abilities. Some of the research activities are described in this paper, and we introduce the application scenario testing the robot system. In particular, we present a robot teaching center and the execution which is of type "household."