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

摘要

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 therefore be employed in various service robotic scenarios. We demonstrate the usability of our concept by quantifying the workspace and its stability and also briefly describe the software components.