Institute for Automation and Applied Informatics

Humanoid Robots


SFB 588:  Humanoid Robots - Learning and Cooperating Multimodal Robots


Professor Dr.-Ing. Rüdiger Dillmann    
Karlsruher Institut für Technologie (KIT)
Institut für Anthropomatik (IFA) 

Applicants from IAI

Prof. Dr.-Ing. Georg Bretthauer (Subprojects R2, R3)

Dr.-Ing. Stefan Schulz (Subprojects R3, R6)

Prof. Dr.-Ing. Ralf Mikut (Subproject R2)




DFG, 2001-2012


Goal of this project was the development of concepts, methods and actual mechatronic components for a humanoid robot which shares its work space with a human. By means of our partially anthropomorphic robot system, developed specially for this project, the step towards cooperative, multimodal and learning robot system will be done.
To be a useful assistant for the human in everyday environments, the robot system must have many complex abilities and features: a humanoid shape, multimodality, and the ability to cooperate and learn. To emphasize is the ability of the system to learn, as it can so be lead to new, prior unknown tasks. New terms and objects, even new motions are learnable with the help of the human user, and can be corrected interactively by him.
The new collaborative research centre therefore is concerned with the development of a humanoid robot with human shape.

Our institute was involved in subprojects to the development of dextrous 5-finger hands (Subproject R3), the body balancing (subproject R6) and the whole-body control (subproject R2).

Further information:

Selected publications

Schulz, S.; Pylatiuk, C.; Reischl, M.; Martin, J.; Mikut, R. & Bretthauer, G.: A Lightweight Multifunctional Prosthetic Hand. Robotica, 2005, 23(3), 293-299

Osswald, D.; Martin, J.; Burghart, C.; Mikut, R.; Wörn, H. & Bretthauer, G.: Integrating a Robot Hand into the Control System of a Humanoid Robot. Robotics and Autonomous Systems, 2004, 48(4), 213-221 

Bauer, C.; Mors, M.; Fischer, A.; Stein, T.; Mikut, R. & Schulz, S.: Konzept für einen biologisch inspirierten, semi-passiven pneumatisch angetriebenen zweibeinigen Prothesen-Roboter-Hybrid. at-Automatisierungstechnik,  2012, 60, 662-671 

Burghart, C.; Mikut, R.; Stiefelhagen, R.; Asfour, T.; Holzapfel, H.; Steinhaus, P. & Dillmann, R. A Cognitive Architecture for a Humanoid Robot: A First Approach. Proc., IEEE-RAS Conference on Humanoid Robots, Tsukuba, Japan, 2005, 357-362

Schulz, S.; Pylatiuk, C. & Bretthauer, G.: A New Ultralight Anthropomorphic Hand.
Proc., International Conference on Robotics and Automation, Seoul, Korea, 2001, 2437-2441

Milighetti, G.; Bauer, C.; Mikut, R. & Kuntze, H.-B.: Flexible diskret-kontinuierliche Überwachung und Regelung humanoider Serviceroboter. at-Automatisierungstechnik, 2013, 61, 16-26