ARMAR-6: A Collaborative Humanoid Robot for Industrial Environments

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. Full text: Abstract: We present the collaborative humanoid robot ARMAR-6, which has been developed to perform a wide variety of complex maintenance tasks in industrial environments, collaborating with human workers. We present the hardware, software, and functional architecture of the robot as well as its current abilities. Those include the recognition of the need of help of a human worker, the execution of maintenance plans, compliant bimanual manipulation, vision-based grasping, fluent object handover, human activity recognition, natural dialog, navigation and more. We demonstrate the high level of technology readiness for real world applications in a complex demonstration