Control of ARMAR for the Realization of Anthropomorphic Motion Patterns

摘要

In this paper we present the current state of our humanoid robot ARMAR. We introduce different subsystems that were developed based on the intended application, i. e. service in a household environment. The paper primarily addresses the control strategies, computer architecture and the generation of humanlike motions. We present experimental results showing the generation of ARMAR’s motion trajectories based on the observation of human motion and the control techniques that were applied to follow the generated motion trajectories. 1