A Human-sized Humanoid Robotic System for whole-body manipulation

• Subject Area: Systems Engineering
• Term: Funded in 2014
• Project identifier: Deutsche Forschungsgemeinschaft (DFG) - Project number 252411277

The effective utilisation of human like robots (humanoids) has long been the biggest challenge in robotics. Humanoid robotics brings together multiple fields of research - from electrical/mechanical engineering and informatics to computational neuroscience and psychology. At the Institute for Cognitive Systems (ICS) we follow this inspiration, with researchers working on topics like artificial skin, constraint manipulation, biological vision, emotion modelling and neuronal learning. Our motivation is to better understand human by building equivalent technical systems. Amongst others, we wish to understand how the human whole body sense of touch contributes to their performance in constraint manipulation and locomotion in close contact with the environment. We therefore would equip the first humanoid with a multi-modal, whole-body artificial skin. Complementary to the existing robots, we are looking for a technically mature fullsized autonomous humanoid robotic "system", which is capable of walking but also performing actions beyond walking e.g. lifting objects with at least 2 kg and to support whole body interaction. This robot will play a central role in elevating research within ICS. The robot should be delivered with a sophisticated software development environment that operates the robot and a simulator to evaluate algorithms prior to its execution on the real hardware. In order to allow free locomotion, and fast system responses, all power systems and sufficient processing capabilities should be integrated into this robotic system.

• DFG Programme: Major Research Instrumentation
• Major Instrumentation: A Human-sized Humanoid Robotic System for whole-body manipulation
• Instrumentation Group: 2320 Greif- und Hebewerkzeuge, Verladeeinrichtungen
• Applicant Institution: Technische Universität München (TUM)
• Leader: Professor Dr. Gordon Cheng