ARMAR: An Anthropomorphic Arm for Humanoid Service Robot

Service robots which should perform human-like operation will penetrate into a great number of applications in the future. Requirements for this is high flexibility, autonomy and the ability to adapt to new situations. This paper describes a design concept and a prototype implementation of an autonomous mobile humanoid service robot, which should mainly support people in their daily life as a personal or an assistance robot. The state of the research is that the general concept is developed and two anthropomorphic arms are built up. In the following the sensor system and the control architecture of the anthropomorphic robot are described. To evaluate the performance and motion abilities of the anthropomorphic arm the human arm kinematics and properties are discussed.

• Type: Conference
• Year: 1999
• Where: ICRA
• Authors: Karsten Berns, Tamim Asfour, Rüdiger Dillmann
• Keywords: Anthropomorphic Arm, Humanoid Service Robot, ICRA 1999, Robotics, Service Robot