A major goal of humanoid robotics is to enable safe and reliable human–robot collaboration in realworld scenarios. In this article, we present ARMAR-6, a new high-performance humanoid robot for various tasks, including but not limited to grasping, mobile manipulation, integrated perception, bimanual collaboration, compliant-motion execution, and natural language understanding. We describe how the requirements arising from these tasks influenced our major design decisions, resulting in vertical integration during the joint hardware and software development phases. In particular, the entire hardware—including its structure, sensor-actuator units, and low-level controllers—as well as its perception, grasping and manipulation skills, task coordination, and the entire software architecture were all developed by one team of engineers. Component interaction is facilitated by our software framework ArmarX, which further facilitates the seamless integration and interchange of third-party contributions. To showcase the robot's capabilities, we present its performance in a challenging industrial maintenance scenario that requires human–robot collaboration, where the robot autonomously recognizes the human's need of help and offers said help in a proactive way.

中文翻译：

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ARMAR-6：现实世界场景中用于人机协作的高性能类人动物

类人机器人的主要目标是在现实世界中实现安全可靠的人机协作。在本文中，我们介绍了ARMAR-6，这是一种新型高性能类人机器人，可以完成各种任务，包括但不限于抓握，移动操纵，集成感知，双手协作，顺从动作执行和自然语言理解。我们描述了这些任务产生的要求如何影响我们的主要设计决策，从而在联合的硬件和软件开发阶段实现了垂直集成。特别是，整个硬件（包括其结构，传感器执行器单元和低级控制器）以及其感知，掌握和操纵技能，任务协调以及整个软件体系结构都是由一组工程师开发的。我们的软件框架ArmarX促进了组件交互，该框架进一步促进了第三方贡献的无缝集成和互换。为了展示机器人的功能，我们在需要人机协作的具有挑战性的工业维护场景中展示其性能，在这种情况下，机器人会自动识别人的帮助需求，并主动提供帮助。