This paper presents a humanoid two-arm system developed as a research platform for studying dexterous two-handed 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.
['Christian Ott', 'Oliver Eiberger', 'Werner Friedl', 'Berthold Bauml', 'Ulrich Hillenbrand', 'Christoph Borst', 'Alin Albu-Schäffer', 'B. Brunner', 'Heiko Hirschmüller', 'Simon Kielhöfer', 'Rainer Konietschke', 'Michael Suppa', 'Thomas Wimbock', 'Franziska Zacharias', 'Gerhard Hirzinger']
A Humanoid Two-Arm System for Dexterous Manipulation