A humanoid upper body system for two-handed manipulation

— This video presents a humanoid two-arm system developed as a research platform for studying dexterous twohanded 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. The diversity of the system is demonstrated by showing the mechanical design, several control concepts, the application of rapid prototyping and hardware-in-the-loop (HIL) development as well as two-handed manipulation experiments and the integration of path planning capabilities. I. DESIGN CONSIDERATIONS The concept of our humanoid two-arm system ”Justin”1 (Fig. 1) is based on the modular 7-DoF DLR-LightweightRobot-III (DLR-LWR-III) [1] and the four-fingered DLRHand-II [2]. It is designed as a versatile platform for research on two-handed manipulation and service robotics in ordinary human environments. This work extends the manipulatio...

• Type: Conference
• Year: 2007
• Where: ICRA
• Authors: Christoph Borst, Christian Ott, Thomas Wimböck, Bernhard Brunner, Franziska Zacharias, Berthold Bäuml, Ulrich Hillenbrand, Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger
• Keywords: Dexterous Twohanded Manipulation, Humanoid Upper Body, ICRA 2007, Robotics, Two-handed Manipulation