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The ABB YuMi is a two-armed robot system whose structure and figure is based on a human torso. The strengths of the YuMi become particularly clear in comparison to conventional, single-arm robot systems, since YuMi can perform tasks both parallel and temporally more efficiently due to its two parallel 'arms' and grippers. To prevent potential collisions, the robot arms are equipped with an integrated robot controller that stops the robot immediately in the event of collisions with humans. Due to the efficient operation of the YuMi in combination with the extensive safety features, YuMi holds a great potential for direct cooperation with humans and consequently offers promising application possibilities for industrial applications.


Technical specification

  • 0.5 kg load capacity per arm
  • 559 mm range
  • 0.02 mm accuracy
  • 38 kg total weight
  • protection class IP 30

Each arm of the YuMi has a total of seven flexibly movable axes and a modern two-finger gripper. Moreover, the arms are equipped with a vacuum gripper or a high-resolution camera system for part recognition that enables the robot to grip components accurately. Depending on the application, it is additionally possible to assemble your own two-finger grippers, which are optimized for the respective application and can be produced e.g. by 3D printing.


Potential collisions of the robot arms are prevented by an integrated robot controller. Furthermore, YuMi features force detection, which detects and stops collisions with people and objects in the environment.


The YuMi is programmed online via the local control panel. In addition, the Robot Studio software can be used for both online and offline programming on the PC. For this purpose, the software has a virtual image of the YuMi for simulation-supported programming and monitoring of the controller and the robot status remotely. There is also an app for programming, but its scope and possibilities are very limited.

Application scenarios in research and teaching

On the research side, the focus is on future-oriented collaboration between humans and robots. A concrete research question is, for example, the question of how robot systems in production can be quickly and efficiently trained by human demonstration alone and without extensive prior knowledge on the part of the employee.

In teaching, YuMi also offers ideal opportunities to investigate the potential of a flexible lightweight robot and possible application scenarios in production. For this purpose, the students examine various questions around the topic "Use of the YuMi in production" and work out various concepts in order to constantly expand the application areas of the YuMi.

With the help of the research results developed at IPS, the potentials of industrial service robotics, especially in the field of assembly, should become more transparent and contribute to increasing the industrial degree of implementation of these innovative solutions.

Further planned application scenarios

A planned application scenario is the investigation of 'learning by demonstration'. The focus here is on pick & place movements typical for small parts assembly, as well as simple tool guide movements (e.g. gluing, painting, rinsing), which are to be recorded by motion capture processes and transferred to the robot.

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Tatjana Seckelmann, M.Sc.
Wissenschaftliche Mitarbeiterin
Tel.: 0231 755-8303