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

Technical specifications

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

Access information

Corresponding infrastructure Karlsruhe Institute of Technology
Institute of Anthropomatics and Robotics - High Performance Humanoid Technologies Lab (IAR H2T)

Adenauerring 2,
76131 Karlsruhe,

Unit of access Working day

Additional information

Additional Information available here and here.