ARMAR-III: A humanoid platform for Perception-Action Integration. Export

@inproceedings{Asfour:2006, abstract = {In this paper, we present a new humanoid robot currently being developed for applications in human-centered environments. In order for humanoid robots to enter humancentered environments, it is indispensable to equip them with manipulative, perceptive and communicative skills necessary for real-time interaction with the environment and humans. The goal of our work is to provide reliable and highly integrated humanoid platforms which on the one hand allow the implementation and tests of various research activities and on the other hand the realization of service tasks in a household scenario. We introduce the different subsystems of the robot. We present the kinematics, sensors, and the hardware and software architecture. We propose a hierarchically organized architecture and introduce the mapping of the functional features in this architecture into hardware and software modules. We also describe different skills related to real-time object localization and motor control, which have been realized and integrated into the entire control architecture.}, author = {Asfour, T. and Regenstein, K. and Azad, P. and Schr\"{o}de, J. and Dillmann, R.}, booktitle = {2nd International Workshop on Human-Centered Robotic Systems (HCRS'06)}, citeulike-article-id = {4932477}, citeulike-linkout-0 = {http://wwwiaim.ira.uka.de/users/asfour/publications/HCRS2006.pdf}, keywords = {action, perception, phd, robots}, posted-at = {2009-06-23 10:50:28}, priority = {3}, title = {ARMAR-III: A humanoid platform for Perception-Action Integration.}, url = {http://wwwiaim.ira.uka.de/users/asfour/publications/HCRS2006.pdf}, year = {2006} }

TY - CONF ID - Asfour:2006 L3 - citeulike-article-id:4932477 N2 - In this paper, we present a new humanoid robot currently being developed for applications in human-centered environments. In order for humanoid robots to enter humancentered environments, it is indispensable to equip them with manipulative, perceptive and communicative skills necessary for real-time interaction with the environment and humans. The goal of our work is to provide reliable and highly integrated humanoid platforms which on the one hand allow the implementation and tests of various research activities and on the other hand the realization of service tasks in a household scenario. We introduce the different subsystems of the robot. We present the kinematics, sensors, and the hardware and software architecture. We propose a hierarchically organized architecture and introduce the mapping of the functional features in this architecture into hardware and software modules. We also describe different skills related to real-time object localization and motor control, which have been realized and integrated into the entire control architecture. TI - ARMAR-III: A humanoid platform for Perception-Action Integration. T2 - 2nd International Workshop on Human-Centered Robotic Systems (HCRS’06) KW - action KW - perception KW - phd KW - robots AU - Asfour, T AU - Regenstein, K AU - Azad, P AU - Schröde, J AU - Dillmann, R PY - 2006/// UR - http://wwwiaim.ira.uka.de/users/asfour/publications/HCRS2006.pdf ER -