A Human-sized Humanoid Robotic System for whole-body manipulation

有效利用类人机器人（humanoid）一直是机器人领域最大的挑战。人形机器人汇集了多个研究领域-从电气/机械工程和信息学到计算神经科学和心理学。在认知系统研究所（ICS），我们遵循这一灵感，研究人员致力于人工皮肤，约束操作，生物视觉，情感建模和神经元学习等主题。我们的动机是通过建立等效的技术系统来更好地理解人类。除其他外，我们希望了解人类全身触觉如何有助于他们在与环境密切接触的约束操纵和运动中的表现。因此，我们将为第一个人形机器人配备多模态的全身人造皮肤。作为现有机器人的补充，我们正在寻找一种技术成熟的全尺寸自主人形机器人“系统”，它能够行走，但也能执行行走以外的动作，例如举起至少2公斤的物体，并支持全身互动。该机器人将在提升ICS的研究方面发挥核心作用。机器人应该交付一个复杂的软件开发环境，操作机器人和模拟器，以评估算法之前，它在真实的硬件上执行。为了允许自由运动和快速的系统响应，所有的动力系统和足够的处理能力应该集成到这个机器人系统中。

The effective utilisation of human like robots (humanoids) has long been the biggest challenge in robotics. Humanoid robotics brings together multiple fields of research - from electrical/mechanical engineering and informatics to computational neuroscience and psychology. At the Institute for Cognitive Systems (ICS) we follow this inspiration, with researchers working on topics like artificial skin, constraint manipulation, biological vision, emotion modelling and neuronal learning. Our motivation is to better understand human by building equivalent technical systems. Amongst others, we wish to understand how the human whole body sense of touch contributes to their performance in constraint manipulation and locomotion in close contact with the environment. We therefore would equip the first humanoid with a multi-modal, whole-body artificial skin. Complementary to the existing robots, we are looking for a technically mature fullsized autonomous humanoid robotic "system", which is capable of walking but also performing actions beyond walking e.g. lifting objects with at least 2 kg and to support whole body interaction. This robot will play a central role in elevating research within ICS. The robot should be delivered with a sophisticated software development environment that operates the robot and a simulator to evaluate algorithms prior to its execution on the real hardware. In order to allow free locomotion, and fast system responses, all power systems and sufficient processing capabilities should be integrated into this robotic system.