HomeRobotic Database - Robotic platform | TERRINet

Image The Karlsruhe Humanoid Head

The Karlsruhe Humanoid Head

The Karlsruhe humanoid head was consistently used in ARMAR-IIIa and ARMAR-IIIb. It is a stand-alone robot head for studying various visual perception tasks in the context of object recognition and human-robot interaction.The active stereo head has a total number of 7 DOFs (4 in the neck and 3 in the eyes), six microphones and a 6D inertial sensor. Each eye is equipped with two digital color cameras, one with a wide-angle lens for peripheral vision and one with a narrow-angle lens for foveal vision to allow simple visuo-motor behaviors. The software was originally written in MCA but can also be controlled via the robot development environment ArmarX (https://armarx.humanoids.kit.edu).

Key features:
  • Inertial system
  • Foveated stereo camera system
  • Seven degrees of freedom (DoF)
  • Six channel microphone system
Possible applications:
  • Multimodal attention (audio, vision)
  • Gaze stabilization
  • Active visual search
  • Active vision
  • Human-robot interaction and communication

Access information

Corresponding infrastructureKarlsruhe Institute of Technology
High Performance Humanoid Technologies Lab (H²T)
LocationAdenauerring 2, 76131 Karlsruhe, Germany
Unit of accessWorking day

Technical specifications

Auditory system:Six microphones (SONY ECMC115.CE7)
Inertial system:Xsens MTIx gyroscope-basen orientation sensor
Camera:Four Point Grey Dragonfly2 color cameras (460×480@60Hz)
Actuator:DC Motor and Harmonic Drives
DoF:7
Software:MCA or ArmarX

Additional information

Additional Information available here and here.