ARMAR-4: A 63 DOF torque controlled humanoid robot

Asfour, Tamim; Schill, Julian; Peters, Heiner; Klas, Cornelius; Bucker, Jens; Sander, C.; Schulz, Stefan; Kargov, A.; Werner, Tino; Bartenbach, Volker

doi:10.1109/humanoids.2013.7030004

Cited by 57 publications

(34 citation statements)

References 23 publications

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“…To show how skills can be applied to different robots, we present a use case for YouBot (Kuka, 2015) and ARMAR-4 (Asfour et al, 2013), showing the required steps to use the skills MoveTCP and MoveJoints on different robots.…”

Section: Use Case: Generic Skills On Different Robotsmentioning

confidence: 99%

The ArmarX Statechart Concept: Graphical Programing of Robot Behavior

et al. 2016

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Programing sophisticated robots, such as service robots or humanoids, are still a complex endeavor. Although programming robotic applications requires specialist knowledge, a robot software environment should support convenient development, while maintaining full flexibility needed when realizing challenging robotics tasks. In addition, several desirable properties should be fulfilled, such as robustness, reusability of existing programs, and skill transfer between robots. In this work, we introduce the ArmarX statechart concept, which is used for describing control and data flow of robot programs. This event-driven statechart approach of ArmarX helps realizing important features, such as increased robustness through distributed program execution, convenient programming through graphical user interfaces, and versatility by interweaving dynamic statechart structure with custom user code. We show that using hierarchical and distributed statecharts increases reusability, allows skill transfer between robots, and hides complexity in robot programming by splitting robot behavior into control flow and functionality.

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Section: Use Case: Generic Skills On Different Robotsmentioning

confidence: 99%

The ArmarX Statechart Concept: Graphical Programing of Robot Behavior

et al. 2016

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“…During the past two decades a number of full sized humanoid robots have been designed and realised: Honda P2/P3 [1], HRP-series [2], CB [3], LOLA [4], TORO [5] and ARMAR-4 [6], just to name a few. All these humanoid robots are commonly human-sized with a similar performance as a human.…”

Section: Introductionmentioning

confidence: 99%

“…Looking over the classic design practice of some of the current generation of humanoid robots, we can identify a couple of key areas that can be improved. Firstly, we set out to replace the Harmonic drives [10] that are used in most high performance electric humanoid robots, such as: ARMAR-4 [6], iCub [11], TORO [5], HRP-series [2], HUBO [12]. Secondly, we need to examine the power and control electronics followed by the mechanical design with the aim to reduce the costs and simplify the design of the overall system.…”

Section: Introductionmentioning

confidence: 99%

Realising Herbert: An affordable design approach of an anthropometrically correct compliant humanoid robot

Pierce

Cheng

2014

2014 IEEE-RAS International Conference on Humanoid Robots

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Abstract-In this paper we present our new full-sized anthropometrically correct humanoid robot Herbert. Herbert has 18 DOF: 1) 14 active DOFs (2 × 1 DOFs in the knees, 2 × 3 in the hips, 3 in the waist and 3 in the head); 2) 4 passive DOFs (2 × 2 in the ankles). We follow a simple design approach while keeping the costs low but ensuring high-performance is achieved. We employed a modular design in realising Herbert. The two core mechanical modules that are used to construct this humanoid robot are: 1) a small compact drive module; and 2) a compliant drive module. We also provide a brief overview of the electronics and the software architecture that support the overall development of this system. Finally, we provide results demonstrating our robot's performances: demonstrating the module's compliant behaviour, the ability of tracking a desired position/velocity as well as a simple torque controller. All in all, we show that our system is compact and able to achieve comparable human performances and proportions.

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“…The engagement of humanoid robots in some familiar problems likes the processing of information same as human brain and to deal with the real world to perform more tasks with better precision. The physical appearance and locomotion has resemblance like the human in their reasoning, actions, and communication about the real environment [3], [4]. The development of such kind of robot need vast range of discipline in their integration and coordination research efforts in several fields such as human machine interaction, control theory, artificial intelligence, computational and psychological computational and perception neuroscience [5]- [10].…”

Section: Introductionmentioning

confidence: 99%

An Innovative Cognitive Architecture for Humanoid Robot

Mushtaq¹,

Akram²,

Tariq³

et al. 2017

ijacsa

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Abstract-Humanoid robot is appearing as most popular research tool and emerging research field. The greatest challenge in the development of robot is cognition, advancement and the understanding in the human like cognition. Humanoid robot requires a self-learning behavior like the humans that is able to get the experience from environment. Based on experience, it can modify their actions, or having conscious intellectual capability to reduce empirical factual knowledge. In this regard, we propose a novel framework called an Innovative Cognitive Architecture for Humanoid Robot (ICAHR) that is capable to develop cognitive through social interaction and autonomous exploration. It combines the modules of active memory, decision processor, and sensor listener that has capability to perform selflearning behavior like human, to make decisions in dynamic environment, and perform more valid and intelligent actions with better precision. The proposed architecture may result in safe, robust, flexible, and reliable machines that can be substitute of human beings in different tasks. The feasibility of new proposed ICAHR design has been examined through real-world case studies.

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ARMAR-4: A 63 DOF torque controlled humanoid robot

Cited by 57 publications

References 23 publications

The ArmarX Statechart Concept: Graphical Programing of Robot Behavior

The ArmarX Statechart Concept: Graphical Programing of Robot Behavior

Realising Herbert: An affordable design approach of an anthropometrically correct compliant humanoid robot

An Innovative Cognitive Architecture for Humanoid Robot

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