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Armar

Details

Armar is a robot created to be a helper in industrial environments. Its humanoid form lets it use human tools like power drills and hammers. Earlier versions were home helpers that could clean tables and load the dishwasher.

Creator
Karlsruhe Institute of Technology
Country
Germany πŸ‡©πŸ‡ͺ
Year
2017
Type
Humanoids, Research
Creator
Karlsruhe Institute of Technology
Country
Germany πŸ‡©πŸ‡ͺ
Year
2017
Type
Humanoids, Research

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Specs

FEATURES
Bimanual and mobile manipulation. Learning from human observation. Compliant control and physical human-robot collaboration. Natural-language dialog.
HEIGHT
240 cm | 94.5 in
LENGTH
60 cm | 23.6 in
WIDTH
60 cm | 23.6 in
WEIGHT
150 kg | 331 lb
SPEED
3.6 km/h | 2.2 mph

SENSORS
Two stereo vision systems (Roboception rc_visard 160 and two Point Grey Flea 3.0) and an RGB-D sensor. 6D force/torque sensors in the wrists. Sensors in every arm joint: absolute and incremental position sensors, torque sensor, 9-axis IMU. Two laser scanners in the mobile base.
ACTUATORS
16 brushless high-torque DC motors (RoboDrive) and harmonic drives. Highly integrated custom sensor-actor-controller units for the arms. Two motors in each hand.
POWER
48-V battery, 2 to 3 hours of operation, or 220-V external power supply.
COMPUTING
Four high-end PCs with 3.40 GHz Intel Core i7-6700 CPU, 32 GB RAM, 500GB SSD. One GPU GeForce GTX 1080 with 8 GB RAM.
SOFTWARE
Ubuntu 14.04 OS. ArmarX (custom software).
DEGREES OF FREEDOM (DOF)
27 (Head: 2 DoF; Arm: 8 DoF x 2; Hands: 2 DoF x 2; Torso: 1DoF; Mobile platform: 4 DoF)
MATERIALS
Aluminum and 3D-printed parts
COST
€100,000 to 200,000 (approximate)
STATUS
Ongoing
HISTORY
The robot was developed within the Collaborative Research Center on Humanoid Robots, funded by the German Research Foundation. The research focuses on the design and implementation of versatile robots that are able to carry out tasks in human-centered environments, to learn from human observation and to interact with humans in a natural way. The first ARMAR robot (ARMAR-I) was built in 2000. ARMAR-II, ARMAR-IIIa, and ARMAR-IIIb were presented in 2004, 2006, and 2007, respectively. The projects were led by Professors Rudiger Dillmann and Tamim Asfour at the Karlsruhe Institute for Technology. The next generation ARMAR-IV, a two-legged, 63 DOF torque-controlled humanoid, is expected to be unveiled by the end of 2012.
WEBSITE
http://www.humanoids.kit.edu