T. Asfour, Lukas Kaul, Mirko Wächter, Simon Ottenhaus, Pascal Weiner, Samuel Rader, Raphael Grimm, You Zhou, Markus Grotz, Fabian Paus, Dmitriy Shingarey, Hans Haubert
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ARMAR-6: A Collaborative Humanoid Robot for Industrial Environments
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.
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