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


  • 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)


  • 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)