Hardware and software architecture of the bimanual mobile manipulation robot HoLLiE and its actuated upper body

@article{Hermann2013HardwareAS,
  title={Hardware and software architecture of the bimanual mobile manipulation robot HoLLiE and its actuated upper body},
  author={Andreas Hermann and J. Sun and Zhixing Xue and Steffen W. Ruehl and Jan Oberl{\"a}nder and Arne R{\"o}nnau and Johann Marius Z{\"o}llner and R{\"u}diger Dillmann},
  journal={2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics},
  year={2013},
  pages={286-292}
}
We present our recent work on the soft- and hardware design of the bimanual mobile manipulation platform HoLLiE that is equipped with an actuated upper body. The goal was to develop a robust but extensible robot with a non-intimidating abstract anthropomatic appearance based on a combination of industrial robotic components and intelligent mechatronics. With a range of different sensors and a highly articulated body HoLLiE can handle everyday objects, interact with humans in multiple ways and… CONTINUE READING

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