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major goal of humanoid robotics is to enable safe and reliable human-robot collaboration in realworld scenarios. In this article, we present ARMAR-6, a new high-performance humanoid robot for various tasks, including but not limited to grasping, mobile manipulation, integrated perception, bimanual collaboration, compliant-motion execution, and natural language understanding. We describe how the requirements arising from these tasks influenced our major design decisions, resulting in vertical integration during the joint hardware and software development phases. In particular, the entire hardware-including its structure, sensor-actuator units, and low-level controllers-as well as its perception, grasping and manipulation skills, task coordination, and the entire software architecture were all developed by one team of engineers. Component interaction is facilitated by our software framework ArmarX, which

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Grasping and manipulation with anthropomorphic robotic and prosthetic hands presents a scientific challenge regarding mechanical design, sensor system, and control. Apart from the mechanical design of such hands, embedding sensors needed for closed-loop control of grasping tasks remains a hard problem due to limited space and required high level of integration of different components. In this paper we present a scalable design model of artificial fingers, which combines mechanical design and embedded electronics with a sophisticated multi-modal sensor system consisting of sensors for sensing normal and shear force, distance, acceleration, temperature, and joint angles. The design is fully parametric, allowing automated scaling of the fingers to arbitrary dimensions in the human hand spectrum. To this end, the electronic parts are composed of interchangeable modules that facilitate the mechanical scaling of the fingers and are fully enclosed by the mechanical parts of the finger. The resulting design model allows deriving freely scalable and multimodally sensorised fingers for robotic and prosthetic hands. Four physical demonstrators are assembled and tested to evaluate the approach.

Recently, Borodin, Kostochka, and Yancey (On 1-improper 2-coloring of sparse graphs. Discrete Mathematics, 313(22), 2013) showed that the vertices of each planar graph of girth at least 7 can be 2-colored so that each color class induces a subgraph of a matching. We prove that any planar graph of girth at least 6 admits a vertex coloring in 2 colors such that each monochromatic component is a path of length at most 14. Moreover, we show a list version of this result. On the other hand, for each positive integer t ≥ 3, we construct a planar graph of girth 4 such that in any coloring of vertices in 2 colors there is a monochromatic path of length at least t. It remains open whether each planar graph of girth 5 admits a 2-coloring with no long monochromatic paths.