ARMAR-6: A Collaborative Humanoid Robot for Industrial Environments
ARMAR-6: A Collaborative Humanoid Robot for Industrial Environments
复制标题
ARMAR-6：适用于工业环境的协作人形机器人
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Hans Haubert
中科院分区：
文献类型：
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作者：
T. Asfour;Lukas Kaul;Mirko Wächter;Simon Ottenhaus;Pascal Weiner;Samuel Rader;Raphael Grimm;You Zhou;Markus Grotz;Fabian Paus;Dmitriy Shingarey;Hans Haubert
我们介绍了协作式仿人机器人Armar-6，它已经被开发出来，用于在工业环境中与人类工人合作执行各种复杂的维护任务。我们介绍了机器人的硬件、软件和功能结构以及它目前的能力。这些包括对人类工人的帮助需求的识别、维护计划的执行、合规的双工操作、基于视觉的抓取、流畅的对象移交、人类活动识别、自然对话、导航等等。我们在一个复杂的演示场景中展示了针对现实世界应用程序的高水平技术准备，在CeBIT 2018展会上展示了50多次。
We present the collaborative humanoid robot ARMAR-6, which has been developed to perform a wide variety of complex maintenance tasks in industrial environments, collaborating with human workers. We present the hardware, software, and functional architecture of the robot as well as its current abilities. Those include the recognition of the need of help of a human worker, the execution of maintenance plans, compliant bimanual manipulation, vision-based grasping, fluent object handover, human activity recognition, natural dialog, navigation and more. We demonstrate the high level of technology readiness for real world applications in a complex demonstration scenario, shown more than 50 times at the CEBIT 2018 exhibition.