Mobile Dual-Arm-Manipulation

Photo: David Schikora, DFKI GmbH

Technical Details

Size: 1,15m x 0,75m x 1,7m
Actuation/ Engine:
2x 7-DOF Arms with Payload/Weight > 1, 4 DOF Torso, 12 DOF Mobile Platform
Skyetek M4 RFID Module,
2x Prosilica GC780C Camera,
Mesa SR-4000 3D Camera,
Hokuyo URG Laser scanner,
2x Hokuyo UTM Laser scanner

Organisational Details

Partner: Uni Bremen
Team: Team IV - Robot Control
Application Field: Logistics, Production and Consumer
Related Projects: SemProM
Semantic Product Memory (02.2008- 01.2011)
Behaviors for Mobile Manipulation (05.2012- 07.2016)
Smart robotics for high added value footwear industry (09.2010- 02.2013)
Related Software: Rock
Robot Construction Kit
Behavior Optimization and Learning for Robots

System description

AILA with her new hands (Photo: Annemarie Hirth, DFKI GmbH)

The robot AILA is a mobile dual-arm robot system developed as a research platform for investigating aspects of the multidisciplinary area of mobile manipulation. Mobility, perception, manipulation and, primarily, the use of all these subareas within a single system that is able to perceive and understand its environment, move around, manipulate, learn about objects and deal with unstructured and uncertain environments is the goal of this research area.

AILA has 32 degrees of freedom, including 7-DOF arms, 4-DOF torso, 2-DOF head, and a mobile base equipped with six wheels, each of them with two degrees of freedom. The primary design goal was to achieve a lightweight arm construction with a payload-to-weight ratio greater than one. Besides, an adjustable body should sustain the dual-arm system providing an extended workspace. Mobility is currently provided by means of a wheel-based mobile base. Its hardware includes:

  • Two Prosilica GC780C cameras that create a stereo system unit in the head
  • A periodically-tilting short-ranged Hokuyo URG Laser scanner in the chest and a Mesa SR-4000 3D Time of Flight (TOF) camera in the robot’s belly
  • Two long-ranging Hokuyo UTM Laser scanners provide a circumferential view for the mobile base
  • Two 3,5-inches embedded PCs: one for motion control located in the head and one for navigation located in the mobile base
  • A mini-ITX board in combination with a dedicated graphics card for vision processing is located in the torso
  • The communication network consists of five independent CAN lines for controlling the two arms, the torso, and the wheel modules of the base.
  • GigaEthernet routed through two fiveport switches connect the head cameras, the three computers, and the outside world.
  • Two six-axis force/torque sensors at the robot’s wrists.
  • In-house developed joint electronics consisting of a stack of three PCBs (power electronics, FPGA, interfaces and sensors)


BesMan: First demonstration – robot system AILA

First official demonstration: Execution of an autonomous manipulation task in the ISS Mockup

AILA/CAPIO Exoskeleton: German-Russian cooporation for remote control of robots

Aim of this demonstration is to control humanoid robots through the exoskeletons in any other location. In this case: Bremen and the Russian city Magnitogorsk.


AILA performing an autonomous mission in ISS setup.


Teleoperation of an Antropomorphic System in Space Robotics.

AILA: Robofoot

Programming Arm Motions and Multifinger Grasping by Operator Demonstration

AILA: Teleoperation using Kinect

Demo showing AILA being teleoperated with the use of a Kinect sensor.

AILA: Autonomous product handling (SemProm)

AILA sorts out supermarket products using RFID information

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last updated 29.11.2016
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