Conference Paper

A Humanoid Two-Arm System for Dexterous Manipulation

German Aerosp. Center, Inst. of Robotics & Mechatronics, Wessling
DOI: 10.1109/ICHR.2006.321397 Conference: IEEE-RAS
Source: DLR

ABSTRACT This paper presents a humanoid two-arm system developed as a research platform for studying dexterous two-handed manipulation. The system is based on the modular DLR-Lightweight-Robot-III and the DLR-Hand-II. Two arms and hands are combined with a three degrees-of-freedom movable torso and a visual system to form a complete humanoid upper body. In this paper we present the design considerations and give an overview of the different sub-systems. Then, we describe the requirements on the software architecture. Moreover, the applied control methods for two-armed manipulation and the vision algorithms used for scene analysis are discussed.

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