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).
|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|
|Software:||MCA or ArmarX|