The DOI matches its Crossref record.
ARMAR-III: An Integrated Humanoid Platform for Sensory-Motor Control
Abstract
In this paper, we present a new humanoid robot currently being developed for applications in human-centered environments. In order for humanoid robots to enter human-centered environments, it is indispensable to equip them with manipulative, perceptive and communicative skills necessary for real-time interaction with the environment and humans. The goal of our work is to provide reliable and highly integrated humanoid platforms which on the one hand allow the implementation and tests of various research activities and on the other hand the realization of service tasks in a household scenario. We introduce the different subsystems of the robot. We present the kinematics, sensors, and the hardware and software architecture. We propose a hierarchically organized architecture and introduce the mapping of the functional features in this architecture into hardware and software modules. We also describe different skills related to real-time object localization and motor control, which have been realized and integrated into the entire control architecture
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cited by
A Comprehensive Realization of Robot Skin: Sensors, Sensing, Control, and Applications
Cheng, G., Dean-Leon, E., Bergner, F., Rogelio Guadarrama Olvera, J., Leboutet, Q., & Mittendorfer, P. (2019) · Proceedings of the IEEE · doi:10.1109/jproc.2019.2933348 · Cited by 209
A review on humanoid robotics in healthcare
Joseph, A., Christian, B., Abiodun, A. A., & Oyawale, F. (2018) · MATEC Web of Conferences · doi:10.1051/matecconf/201815302004 · Cited by 89
Mobile Manipulation Hackathon: Moving into Real World Applications
Roa, M. A., Dogar, M. R., Pages, J., Vivas, C., Morales, A., Correll, N., Gorner, M., Rosell, J., Foix, S., Memmesheimer, R., et al. (2021) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2021.3061951 · Cited by 19
Metadata
- Authors
- Asfour, T., Regenstein, K., Azad, P., Schroder, J., Bierbaum, A., Vahrenkamp, N., & Dillmann, R.
- Venue
- 2006 6th IEEE-RAS International Conference on Humanoid Robots
- Publisher
- IEEE
- Published
- 2006-12
- Pages
- 169-175
- OpenAlex
- W2540104143
- Cited by
- 386
- References
- 0
- FWCI
- 46.69
- Type
- conference paper
- Language
- en
- Open access
- closed
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
How to cite
Cite CoChat for the checks on this page, and the paper for its own findings.
- This page
- CoChat. (2026). Citation check: ARMAR-III: An Integrated Humanoid Platform for Sensory-Motor Control. https://app.cochat.ai/papers/10.1109/ichr.2006.321380
- The paper
- Asfour, T., Regenstein, K., Azad, P., Schroder, J., Bierbaum, A., Vahrenkamp, N., & Dillmann, R. (2006). ARMAR-III: An Integrated Humanoid Platform for Sensory-Motor Control. 2006 6th IEEE-RAS International Conference on Humanoid Robots. https://doi.org/10.1109/ichr.2006.321380
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
