A Humanoid Two-Arm System for Dexterous Manipulation (2006)
| Venue: | 2006 IEEE International Conference on Humanoid Robots |
| Citations: | 14 - 1 self |
BibTeX
@INPROCEEDINGS{Ott06ahumanoid,
author = {Ch. Ott and O. Eiberger and W. Friedl and B. Bäuml and U. Hillenbr and Ch. Borst and A. Albu-schäffer and B. Brunner and H. Hirschmüller and S. Kielhöfer and R. Konietschke and T. Wimböck and F. Zacharias and G. Hirzinger},
title = {A Humanoid Two-Arm System for Dexterous Manipulation},
booktitle = {2006 IEEE International Conference on Humanoid Robots},
year = {2006},
pages = {276--283}
}
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Abstract
Abstract — This paper 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. In this paper we present the design considerations and give an overview of the different sub-systems. Then, we describe the requirements on the software architecture. Moreover, the applied control methods for two-armed manipulation and the vision algorithms used for scene analysis are discussed. I.
Citations
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