Concept and Prototype Implementation of a Humanoid Robot

Service robots which ought perform human like opera tion will penetrate into a great number of applications in the foreseeable future Requirements for this is a high exibility autonomy and the ability to adapt to new situations This paper describes a design concept and a prototype implementation of an autonomous mobile humanoid service robot which should mainly support people in their daily life as a personal or an assistance robot The state of the research is that the general concept is developed and two anthropomorphic arms are built up In the following mainly the sensor system and the control algorithms of the anthropomor phic arm is described To evaluate the performance and motion abilities of the anthropomorphic arm the human arm kinematics and properties are modelled