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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
Software:MCA or ArmarX

Additional information

Additional Information available here and here.

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 730994


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