Central part of the described hardware infrastructure is a classical 6 degrees-of-freedom (DOF) robot manipulator and a multi-fingered hydraulic TUM robot hand. The robot's proprioceptive sensors and their limitations are described. Several additional sensory systems became available, among them are a 6D force-torque wrist sensor, the developed prototype of a new tactile sensor sub-system, video imaging systems, and active camera systems.
The current communication infrastructure is presented with regards to the physical transport layer, providing the base for various kinds of control and communication processes (asymmetric multiprocessing). The developed high-level software integration layer for the special needs of our robotics laboratory is reported in Report 96-3 "SORMA".