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.