Design of a high-performance humanoid dual arm system with inner shoulder joints

This paper presents the design of the KIT Dual Arm System, which consists of two high-performance, humanoid robot arms. Based on human arm kinematics, each arm has 8 degrees of freedom (DOF) including a clavicle joint of the inner shoulder. In comparison to classical 7 DOF robot arms, the incorporation of the clavicle joint results in a larger workspace and an increased dexterity in bimanual tasks. The arm structure is based on an exoskeleton design approach: Highly modular and highly integrated sensor-actuator-control units in each joint are linked by a hollow structure, which allows a stiff construction at low weight. Combined with its length of 1 m and a maximum payload of 11 kg at stretched configuration, the performance of the KIT Arm is comparable to state-of-the art industrial robot arms. Thereby, it combines the strengths of humanoid and industrial robot arms.