Mr. SemProM

Mr. SemProM

Mr. SemProM, or SemProM to its friends, is a humanoid robot developed by DFKI Bremen of Germany. It is described as a robot with mobile dual-arm-manipulation and digital product memory to improve the autonomy of decentralized object handling. It has a height of 1.75 meters, with an arm span of 2.25 meters. It is equipped with a wide range of sensors – Videre STH-DCSG stereocamera; Mesa SR-300 3D-camera; Prosilica GE680c wrist-camera; and SkyeTek M4 RFID module. The robot has a flexible head, a variable frame, and two arms that each have 7 DOF and a gripper. The arms can easily be arranged in three different angles with two shoulder lengths.

SemProM is connected to a digital product memory, which enables gripping behavior and transportation of handled objects. The stereo and 3D cameras are used for approaching an object and recognizing it, while the two bilateral symmetric computers are used for image processing and manipulation. SemProM’s nervous system consists of two CAN-lines – one for motor control and the other for communication channels based on Firewire, USB, and GigaEthernet. The wrist-camera is responsible for visual servoing, such as fine motor manipulations.

Features:

• Controlled in real-time for safe gripping
• Ability to recognize the size, weight, and lifting points of an object
• Can store a summary of handling operations performed
• Easy to maintain and disassemble for transportation
• Component parts can be replaced without further dismounting