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Image ARMAR-III in a robot kitchen

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 infrastructureKarlsruhe Institute of Technology
Institute of Anthropomatics and Robotics - High Performance Humanoid Technologies Lab (IAR H2T)
LocationAdenauerring 2, 76131 Karlsruhe, Germany
Unit of accessWorking day

Additional information

ArmarX: https://www.armarx.humanoids.kit.eduAdditional Information available herehere and here.

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