Basis: combined abilities of ATHENE II and the calibration-free manipulator
Some characteristics:
- Anthropomorphic shape; size: 185 cm x 70 cm x 70 cm; mass: 250 kg
- Modular design, 25 drive modules, 22 degrees of freedom
- Modular software-system, based on the concepts of behavior and skill
- Multi-processor system, constructed from standard components (PC and digital signal processors)
- Decentral micro-controllers in all drive modules
- CAN-Bus connecting all modules with the multi-processor system
Main mechanichal components
- Omni-direktional undercarriage with 4 wheels
- Bendable upper body
- Two arms with 6 dof each
- Camera platform with 6 dof
Sensors:
- Stereo vision system
- Odometry
- Tactile sense
- High-resolution angle encoders in all axes
- Kinesthetic sense
- Microphone for speech input
Main software components:
- Central module for situation assessment and behavior selection
- Various learning components
- Multiple interconnected data bases (for persons, locations, objects, behaviors etc. and relationships between them)
- Object-oriented vision system
- I/O system for connected speech (speaker-independent)
Multimodal communication system:
- Situation-dependent communication behavior
- Written or spoken language (English, French or German)
- Augmented by gestures, vision and touch
- Wireless connection to the Internet (for, e.g., WWW and e-mail)
Results:
- Autonomous exploration and map building
- Various services, including fetch and carry, information-giving and entertainment
- Autonomous knowledge acquisition by observation and dialogues
- Information-giving from internal data bases or the Internet
- Humans accept HERMES as a friendly partner
- Dependability proven in a long-term test (6 months of daily interaction with the public in a museum)