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)