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Thread: ARMAR, humanoid robots, Humanoids and Intelligence Systems Lab (HIS), Karlsruhe Institue of Technology (KIT), Karlsruhe, Germany

  1. #11


    Robots bootstrapped through learning from experience

    Published on Jul 28, 2016

    This video shows an integrated demonstration of central results of the Xperience project. In the example task of preparing a salad
    and setting a table together with a human, the robot ARMAR-III uses its knowledge gained from previous experience to plan and execute
    the necessary actions towards its goal. The demonstration highlights the aspects of the realization of integrated complete robot systems,
    and emphasizes the concept of structural bootstrapping on the levels of human-robot communication and physical interaction, sensorimotor
    learning, learning of object affordances, and planning in robotics.

    The scenario integrates several scientific methods developed in the project:
    - Execution of complex manipulation tasks and plans based on the developed architecture and its implementation
    - Automatic generation of domain descriptions for planning based on the robots experience
    - Replanning on the fly in case of missing objects
    - Replacing missing objects by employing different bootstrapping (replacement) strategies
    - Replacing actions by adapting previously learnt actions to new context
    - Human-robot communication in natural language including the robot's understanding of spoken commands, world descriptions, and feedback as well as the robot's ability to ask the human for help and information
    - Handing over objects between the robot and the human

  2. #12


    SecondHands project members present first robot prototype ARMAR-6

    Published on Jan 11, 2018

    SecondHands is an EU-funded Horizon 2020 project aiming to design a collaborative robot (cobot) that can proactively offer support to maintenance technicians working in Ocado’s highly automated warehouses, also known as Customer Fulfilment Centers (CFCs). This robot will be a second pair of hands that will assist technicians when they are in need of help. The robot will learn through observation and will augment the humans' capabilities by completing tasks that require a level of precision or physical strength that are not available to human workers.
    "KIT's ARMAR-6 Humanoid Will Help Humans Fix Other Robots"

    by Evan Ackerman
    January 16, 2018

  3. #13


    Published on Jul 20, 2018

    The humanoid robot ARMAR-6 collaborating with a human worker in a bimanual overhead task and performing force-based bimanual manipulation, vision-based grasping, fluent object handover, human activity recognition, natural language based human-robot dialog and interaction, navigation among many other features on a use case supplied by Ocado. In a complex maintenance task demonstration, the robot was able to recognize the need of help of a technician based on speech, force and visual information.
    The video shows a one shot take of the demonstration shown at the CeBIT 2018 (June 11-18) more than 50 times.

  4. #14


    ARMAR-6: A collaborative humanoid robot for industrial environments

    Published on Nov 8, 2018

    Video attachment to our paper:

    ARMAR-6: A Collaborative Humanoid Robot for Industrial Environments
    Asfour, T., Kaul, L., Wächter, M., Ottenhaus, S., Weiner, P., Rader, S., Grimm, R., Zhou, Y., Grotz, M., Paus, F., Shingarey, D. and Haubert, H.

  5. #15


    ARMAR-6 grasping pipeline

    Published on Nov 15, 2018

    ARMAR-6 demonstrates grasping various tools in a warehouse environment utilizing the mobile platform and the 8-DoF arms. Based on environment models and depth cameras collision-free trajectories for the mobile platform and the arms are calculated to reach an automatically selected grasping pose by employing a pipeline of algorithms consisting of inverse kinematics, grasp planning, collision-free motion planning, and robot placement calculation.

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