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TU Berlin

Inhalt des Dokuments

  • Mobile Manipulator
  • Meka T2
  • Meka Hands
  • Barrett Hand
  • Puma 560
  • 12 iRobots for teaching
  • Cluster
  • Computers for Deep Learning
  • 3D Camera
  • Motion Capturing
  • Kinect
  • CyberGlove Systems - CyberGlove II + III
  • Soft Robotics
  • Kicker

Mobile Manipulator

Lupe [1]

Our mobile manipulator is composed of a mobile base: a modified XR4000. We can mount different manipulators on top of the base. In the image on the right you can see a Barrett [2] WAM.

Meka T2

Lupe [3]

Our Meka (T2) Humanoid torso is composed of tractable arms (A2) and can be installed on the mobile platform.

Meka Hands

Lupe [4]

For the Meka arms we have two hands for different usage.

Barrett Hand

Lupe [5]

The Barret Hand is used for grasping and manipulation research.

Puma 560

Lupe [6]

We have two Puma 560 (F4V, 10,6 MB) [7] robot arms for teaching. The students learn how to implement joint and operational space controllers. Visual servoing and motion planning is also part of the Puma lectures.

12 iRobots for teaching

Lupe [8]

Each equiped with a Hokuyo Laser Scanner, a USB webcam and a Netbook. The iRobot platform has a differential drive and a front bumper. The base is connected via USB Interface to the Netbook. The Netbook is running Linux and we use ROS to control the robot.


Lupe [9]

IBM system cluster - e1350/iDataplex Nodes: IBM System x iDataPlex dx360 M2 and dx360 M3 server Interconnects: BNT RackSwitch G8000F 48-port GbE Switch Bundle.

The cluster has 132 nodes, each equipped with two Quadcore CPUs and Hyperthreading, providing in total 2272 slots for parallel computation.

Computers for Deep Learning

Two computers each equipped with a NVIDIA GeForce GTX TITAN X GPU.

One high-performance computer, "DeepThought", equipped with 4x GeForce GTX 1080 Ti GPUs.

3D Camera

Lupe [10]

3D Camera Mesa [11]
Data Sheet

Motion Capturing

Lupe [13]

In order to be able to analyze movements, we maintain our own motion capturing laboratory. This allows us not only to map possible paths of movement, but also perform detailed analysis of, for example, grasping strategies.


Lupe [14]

The kinect [15] sensor projects a known infrared pattern on the scene. This point pattern is not visible for the human eyes. A infrared camera records the pattern and estimate the depth using the shift of the infrared points. A colored image is used to give every point the right color value. The output of the kinect sensor is a colored 3D point cloud of the scene.

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CyberGlove Systems - CyberGlove II + III

Lupe [16]

In order to provide intuitive control over our manipulators and actuators, we use the CyberGlove II and III made by CyberGlove Systems to track movement of the hand and individual fingers.

Soft Robotics

Example application: actuators used as fingers in a robotic hand
Lupe [17]

If you want to quickly start your own PneuFlex actuator factory, and don’t care about costs, here’s the list of things we know that work:

  • [1] Vacuum chamber [18]
  • [2] Vacuum [19] pump [20]
  • [3] Gram scale [21]


Lupe [22]
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