COMPI, Compliant Robot Arm, German Research Center for Artificial Intelligence, Kaiserslautern, Saarbruecken, Bremen, Berlin, Germany

The robotic arm COMPI was designed by the Robotics Innovation Center of the German Research Center for Artificial Intelligence (DFKI). The System is composed of six rotational joints. Each of them is controlled by a FPGA, which implements different control modes. In particular, COMPI is used as a platform to research dynamic control approaches. Such control strategies play an important role for force- or torque-based tasks, e.g. in the field of Human-Robot-Interaction. The obtained results are continuously transferred to other robotic systems with similar kinematic structures.

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This video shows the autonomous robot-robot collaboration in HySociaTea using the TECS framework. The Compi robot takes item to be delivered and reports that a delivery is required. AILA recognizes that she can handle the task and takes over. The handover is realized using a communication protocol.

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