Image 1 - ARMAR-6 is a collaborative humanoid assistant robot for industrial environments. It can interact with humans and provide help when needed in a proactive way.

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ARMAR-6

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Country: Germany

Year: 2017

Summary

ARMAR-6 is a collaborative humanoid assistant robot for industrial environments. It can interact with humans and provide help when needed in a proactive way.

Status: Prototype, In development

Operation: Autonomous, Collaborative

Robot Type / Domain: Research

Tasks: interact with humans, use tools, manipulate objects

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ARMAR-6 is a collaborative humanoid assistant robot for industrial environments. It can interact with humans and provide help when needed in a proactive way. Thanks to its humanoid shape, it can use tools designed for humans, such as power drills and hammers. With its artificial intelligence capabilities, it can autonomously perform maintenance tasks in industrial facilities, recognize the need of help of its collaboration partner, and offer assistance. The robot has been designed to be versatile in its capabilities to allow acting in situations that are not foreseen at programming time.

Four computers in the mobile base of the robot provide the computation power required for control, image processing, and interaction algorithms as well as for machine learning and artificial intelligence methods. The software architecture is implemented in ArmarX. A battery allows for cable-free, completely autonomous operation. All joint actuators in the arms consist of specially developed, robust, encapsulated sensor-actuator-controller units containing an electric motor, reduction gear, sensors, electronics and controllers. Slip rings allow for the continuous rotation of the joints. Various control modes enable the execution of precise and force-controlled motions.

Technical Specifications

Max. Size: 600L 800W 1920H (mm)

Max. Size: 23.622L 31.496W 75.591H (in)

Max. Payload: 10 kg (per arm)

Max. Payload: 22.046 lbs (per arm)

Weight: 160 kg

Weight: 352.740 lbs

Max. Locomotion Speed: 1 m/s

Max. Locomotion Speed: 3.281 ft/s

Max. Slope: N/A

Battery Operated? Yes

Average Runtime: 4 hr(s)

Max. Runtime: 4 hr(s)

Battery Recharge Time: N/A

Locomotion Type: Wheels/Tracks

DOFs per Arm: 8

DOFs per Leg: N/A

DOFs (total): 28

IP Rating: N/A

Operating Temperature: N/A

Open-source? N/A

Price: N/A

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DoF: Neck (2); Arms (2 x 8); Hands (2 x 14); Torso (1); Platform (4)

Sensors: 3D vision • RGB-D • 2 x Stereo vision • Renishaw AksIM MBA7/8 - Absolute position • AMS5306 - Incremental position • Torque (strain gauge full bridge) • Bosch BNO055 IMU • Various temperature sensors

Software: ArmarX - Middleware, comprehensive high- and low-level APIs

Controller & Computing: Real time — Mini-ITX, Core-i7, 32-GB RAM, Ubuntu, and ArmarX RT-PREEMPT patch and Simple Open EtherCAT Master (SOEM) • Vision — GeForce GTX-1080 GPU • Speech — Roland USB sound card • Planning — ArmarX master node

Power supply: Internal — Nickel metal hydride battery with 38 AH at 48 V (1,824 Wh) Power autonomy for up to 4 h • External — 48-V power supply Tethered power for development and testing

Power Consumption: 460 W (nominal), 1,050 W (peak)

Data Transmission / Communication: Internal — EtherCAT • Bus External — Gigabit Ethernet

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