ARMAR 国家：德国 制造方:卡尔斯鲁厄大学 年份: 2001 高度: 变量 重量: 99lbs (45kg) 自由度: 25

      从机械构造看，类人机器人ARMAR的组成包括自控型可移动的轮式驱动平台、自由度为4的主体、带有一个简单夹子的双臂和一个装有立体摄像机的头部。ARMAR的总重量约45 kg。安装在八边形配电板上的两个活动的驱动轮和作为稳定器的另外两只不活动的轮子组成了可移动平台，平台的最大速度约为1 m/s。机器人类似人形的身体被放置在一个可移动平台上，可以旋转约330度，它还可以向前、后和侧面弯曲。在机器人的体内含有一个套筒结合装置，以调整它的高度。有了这种结合装置，机器人的总高度就可以增加40 cm。

      通过在认知成分与机器人系统之间建立起一个永久的交互作用，一个复杂的机器人的行为才有可能具备与人类相似的能力。内部的研究工作正是基于这一基本原理。因为机器人应该与人类进行简单和直接的合作，每条胳膊的物质结构（尺寸、形状和运动学）在长度、转动轴和工作空间方面都制作得尽可能与人类的胳膊相近。ARMAR有两条多余的胳膊，每条胳膊的自由度为7，长度为65 cm。

      ARMAR的控制体系机构是分级组织的。它分为计算机体系机构和软件体系机构。计算机体系机构包括三个级别：微型控制器、个人计算机和个人计算机网络。微型控制器直接加上特殊的动力电子卡可以控制4台电动机。微型控制器通过CAN-bus（CAN数据传送总线）同一台内部的工业用的个人计算机连接起来。
ARMAR的研究是在卡尔斯鲁厄大学的Forschungszentrum Informatik (FZI)开展的。这项研究开始于2001年，是一项预计为期12年的工程。

Mechanically, the humanoid robot ARMAR consists of an autonomous mobile wheel-driven platform, a body with 4 DOF, a two arm system with a simple gripper and a stereo camera head. The total weight of ARMAR is about 45kg. The mobile platform consists of two active driven wheels fixed in the middle of an octagonal board and another two wheels as passive stabilizers. The maximum velocity of the platform is about 1m/s. The anthropomorphic body of the robot is placed on a mobile platform and supports a rotation of about 330 degree. It can also bended forward, backward and sideways. To adjust the height of the robot, a telescopic joint is included in the body. With this joint the total height of the machine can be increased by 40cm.

This internal research work acts on the basis that a complex robot behavior with similar abilities of a human being is only possible by a permanent interaction between cognition components and the robot systems. Since the robot should support a simple and direct cooperation with humans, the physical structure (dimension, shape and kinematics) of each arm is developed as close as possible to the human arm in terms of segment lengths, axis of rotation and workspace. ARMAR has two redundant arms each having 7 DOF and a length of 65 cm.

The control architecture of ARMAR is hierarchically organized. It is divided in the computer architecture and the software architecture. The computer architecture consists of three levels: the micro-controller level, the PC level and the PC-network level. The micro-controllers are directly coupled with special power electronic cards, which control 4 motors. The micro-controllers are connected via CAN-bus with an internal industrial PC.

This research on ARMAR is carried out at the Forschungszentrum Informatik (FZI) at the University of Karlsruhe. It started in 2001 and is expected to be a 12 year project.