YuMi (IRB 14000 Dual-arm)
About
About YuMi (IRB 14000 Dual-arm)
YuMi combines two seven-axis arms in a human-scale upper-body arrangement, giving the robot 14 controlled axes for coordinated assembly. Each arm carries up to 500 grams over a 559-millimetre reach, while servo grippers can incorporate cameras for locating and inspecting small components.
Lightweight construction, rounded surfaces, padding and collision-aware motion allow the robot to work beside personnel following an application-level safety assessment. Each arm can perform a separate step or cooperate on one part, supporting insertion, feeding, testing and packaging across short production runs. YuMi is used where manual dexterity and frequent product variation make conventional high-payload automation unnecessarily rigid.
Capabilities
Source-backed capabilities
- Operating environments: physical ABB YuMi manipulation workcell
- Control modes: Autonomous
- Bimanual manipulation
Research demonstration - 2025-03-06 - Demonstrated bimanual manipulation tasks on the physical dual-arm robot after simulation training. - environment: physical ABB YuMi manipulation workcell
Source - Bimanual manipulation
Research demonstration - 2025-03-01 - The study’s named evaluation platform is YuMi (IRB 14000 Dual-arm) from ABB.
Source - Object manipulation
Research demonstration - 2020-03-28 - Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics.
Source - Deformable-object manipulation
Research demonstration - 2020-03-28 - Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics.
Source - Bimanual manipulation
Research demonstration - 2020-03-28 - YuMi (IRB 14000 Dual-arm) is the evaluation platform used to test the method and reported findings.
Source - Fabric smoothing and folding
Research demonstration - 2020-03-28 - Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics.
Source - Object manipulation
Research demonstration - 2020-03-03 - Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces.
Source - Bimanual manipulation
Research demonstration - 2020-03-03 - YuMi (IRB 14000 Dual-arm) is the hardware platform used for the reported demonstration.
Source - Rope and cable manipulation
Research demonstration - 2020-03-03 - Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces.
Source - Dexterous manipulation
Research demonstration - 2019-04-25 - The paper introduces Dexterous Manipulation Graphs for planning in-hand manipulation and regrasping with parallel grippers.
Source - Bimanual manipulation
Research demonstration - 2019-04-25 - The authors execute coordinated pushing and regrasping sequences on an ABB YuMi dual-arm robot.
Source - Pick and place
Research demonstration - 2019-04-25 - It adds a concrete YuMi research example for dexterous bimanual manipulation rather than simple pick-and-place.
Source - Dual-arm regrasping
Research demonstration - 2019-04-25 - The paper introduces Dexterous Manipulation Graphs for planning in-hand manipulation and regrasping with parallel grippers.
Source - Bimanual manipulation
Research demonstration - 2019-01-01 - The study’s named evaluation platform is YuMi (IRB 14000 Dual-arm) from ABB.
Source - Bimanual manipulation
Research demonstration - 2017-09-19 - YuMi (IRB 14000 Dual-arm) is used in the study's data-collection or experimental dataset workflow.
Source - Vacuum suction grasping
Research demonstration - 2017-09-19 - Vacuum-based end effectors are widely used in industry and are often preferred over parallel-jaw and multifinger grippers due to their ability to lift objects with a single point of contact. Suction grasp planners often target planar surfaces on point clouds near the estimated centroid of an object.
Source - Bimanual manipulation
Research demonstration - 2017-06-01 - The URAI paper presents dual-quaternion kinematic control for the YuMi dual-arm robot.
Source - Bimanual manipulation
Claimed - 2015-04-13 - ABB introduced YuMi (IRB 14000), a dual-arm collaborative robot designed for small-parts assembly and safe human-robot workcells.
Source
Observed use
Exact-product configurations are shown without inferring supply, purchase, customer status, standard fit, deployment or partnership.
- ABB Indonesia food-industry event barista demonstration
Physical Demo - Connected - Physical - YuMi served coffee and tea to guests at an ABB Indonesia food-industry event.
Source - CERAWeek delegate coffee-service demonstration
Physical Demo - Connected - Physical - YuMi served coffee to delegates at CERAWeek 2019 in Houston.
Source - SUS Corporation die-cast assembly cells
Operational - Connected - Physical - SUS Corporation operates five YuMi cells assembling aluminum die-cast parts.
Source - Electrolux refrigerator gas-leak test station
Operational - Connected - Physical - Electrolux uses YuMi for refrigerator gas-leak testing.
Source - Duncan NRI fruit-fly transfer research system
Research Experiment - Connected - Physical - Duncan NRI researchers use YuMi in an automated fruit-fly transfer system.
Source - Hawa Sirnach stopper-assembly cell
Operational - Connected - Physical - Hawa uses YuMi to assemble and inspect stopper elements.
Source - Anodica mechanical-component assembly line
Operational - Connected - Physical - Anodica uses YuMi for precision assembly of mechanical components.
Source - Copan WASP microbiology-lab automation ecosystem
Operational - Connected - Physical - Copan integrates YuMi with WASP for standardized laboratory sample handling.
Source - GLAUB THT circuit-board assembly system
Operational - Connected - Physical - GLAUB integrates YuMi for through-hole circuit-board assembly and quality assurance.
Source - CEJN fine-thread coupling assembly cell
Operational - Connected - Physical - CEJN uses YuMi to locate and assemble fine-thread quick-connect coupling parts.
Source - LivaNova centrifuge-component cleanroom cell
Operational - Connected - Physical - LivaNova uses YuMi to assemble and test blood-separation centrifuge components.
Source - Preci-Dip contact-bending and inspection cell
Operational - Connected - Physical - Preci-Dip uses YuMi to tend contact-bending equipment and inspect completed contacts.
Source - Husqvarna chainsaw starter-assembly line
Operational - Connected - Physical - Husqvarna uses YuMi to pick screws and attach starters during chainsaw assembly.
Source - ABB New Berlin drive post-test cell
Operational - Connected - Physical - ABB’s New Berlin plant uses YuMi for post-test processing of variable-frequency drives.
Source - Azeta mechanical-parts assembly line
Operational - Connected - Physical - Azeta uses YuMi for flexible precision assembly of mechanical parts.
Source - DEONET promotional-product assembly line
Operational - Connected - Physical - DEONET uses YuMi to position products and apply glue during promotional-item assembly.
Source - Abrantix ATM software-test system
Evaluation - Connected - Physical - Abrantix uses YuMi to automate physical ATM software testing.
Source - Junglekeepers Amazon seed-planting pilot
Pilot - Connected - Physical - Junglekeepers piloted YuMi for seed planting in a remote Amazon jungle laboratory.
Source - NASDAQ opening-bell ceremony
Physical Demo - Connected - Physical - YuMi physically rang the NASDAQ opening bell in Times Square.
Source - Cities 4.0 conference signing demonstration
Physical Demo - Connected - Physical - YuMi helped Malaysia’s Prime Minister sign a conference-opening scroll.
Source - Teatro Verdi orchestra-conducting performance
Physical Demo - Connected - Physical - YuMi conducted Andrea Bocelli and the Lucca Philharmonic Orchestra in Pisa.
Source - Wits RAIL Laboratory research and teaching programme
Research Experiment - Connected - Physical - Wits University uses YuMi for postgraduate AI research and robotics teaching.
Source - BurgerBots automated kitchen
Operational - Connected - Physical - BurgerBots uses YuMi to assemble made-to-order meals in its automated kitchen.
Source - Rajamangala University robotics laboratory
Research Experiment - Connected - Physical - Rajamangala University uses YuMi in a laboratory for industrial-robotics education.
Source - Smartech Selfridges coffee-bar demonstration
Physical Demo - Connected - Physical - YuMi prepared and served coffee to customers at Selfridges in London.
Source - Bloomingdale’s Nespresso demonstration
Physical Demo - Connected - Physical - YuMi brewed and served Nespresso coffee to Bloomingdale’s shoppers.
Source - UAS Technikum Wien Rubik’s Cube research project
Research Experiment - Connected - Physical - A UAS Technikum Wien student configured YuMi to solve a Rubik’s Cube.
Source - UAS Technikum Wien coffee-capsule sorting project
Research Experiment - Connected - Physical - UAS Technikum Wien students configured YuMi to sort coffee capsules into quality batches.
Source - Wuhan IARS YuMi barista demonstration
Physical Demo - Connected - Physical - YuMi served coffee to visitors at the 2018 Wuhan automation and robotics show.
Source
Research
- YuMi redundancy-parameterization paper validates arm-angle kinematics
2025-05-29 - Research Publication - This paper covers YuMi redundancy-parameterization paper validates arm-angle kinematics for YuMi (IRB 14000 Dual-arm) in dexterity.
Source - A Unified Framework for Real-Time Failure Handling in Robotics Using Vision-Language Models, Reactive Planner and Behavior Trees
2025-03-19 - Research Publication - Robotic systems often face execution failures due to unexpected obstacles, sensor errors, or environmental changes.
Source - Towards Autonomous Reinforcement Learning for Real-World Robotic Manipulation with Large Language Models
2025-03-06 - Research Publication - Recent advancements in Large Language Models (LLMs) and Visual Language Models (VLMs) have significantly impacted robotics, enabling high-level semantic motion planning applications.
Source - DFL-TORO: A One-Shot Demonstration Framework for Learning Time-Optimal Robotic Manufacturing Tasks
2023-09-18 - Research Publication - This paper presents DFL-TORO, a novel Demonstration Framework for Learning Time-Optimal Robotic tasks via One-shot kinesthetic demonstration.
Source - Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision
2022-06-29 - Research Publication - Commercial and industrial deployments of robot fleets at Amazon, Nimble, Plus One, Waymo, and Zoox query remote human teleoperators when robots are at risk or unable to make task progress.
Source - Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects
2021-10-27 - Research Publication - The ability to grasp and manipulate transparent objects is a major challenge for robots. Existing depth cameras have difficulty detecting, localizing, and inferring the geometry of such objects.
Source - LazyDAgger: Reducing Context Switching in Interactive Imitation Learning
2021-03-31 - Research Publication - Corrective interventions while a robot is learning to automate a task provide an intuitive method for a human supervisor to assist the robot and convey information about desired behavior.
Source - Dynamic Movement Primitive based Motion Retargeting for Dual-Arm Sign Language Motions
2020-11-08 - Research Publication - We aim to develop an efficient programming method for equipping service robots with the skill of performing sign language motions.
Source - X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions
2020-04-20 - Research Publication - For applications in e-commerce, warehouses, healthcare, and home service, robots are often required to search through heaps of objects to grasp a specific target object. For mechanical search, we introduce X-Ray, an algorithm based on learned occupancy distributions.
Source - Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics
2020-03-28 - Research Publication - Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior work on learning policies for specific deformable manipulation tasks, but comparatively less focus on algorithms which can efficiently learn many different tasks.
Source - Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data
2020-03-03 - Research Publication - Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. Furthermore, learning end-to-end manipulation policies directly from images and physical interaction requires significant time on a robot and can fail to generalize across tasks.
Source - Tactile Dexterity: Manipulation Primitives with Tactile Feedback
2020-02-08 - Research Publication - This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that plans for robot/object interactions that render interpretable tactile information for control.
Source - Bayesian Optimization in Variational Latent Spaces with Dynamic Compression
2019-07-10 - Research Publication - Data-efficiency is crucial for autonomous robots to adapt to new tasks and environments. In this work we focus on robotics problems with a budget of only 10-20 trials.
Source - Dexterous Manipulation Graph paper demonstrates dual-arm regrasping on ABB YuMi
2019-04-25 - Research Publication - This paper covers Dexterous Manipulation Graph paper demonstrates dual-arm regrasping on ABB YuMi for YuMi (IRB 14000 Dual-arm) in dexterity.
Source - Neural Network Model for Identifying Workspace, Forward and Inverse Kinematics of the 7-DOF YuMi 14000 ABB Collaborative Robot
2019-01-01 - Research Publication - This model covers Neural Network Model for Identifying Workspace, Forward and Inverse Kinematics of the 7-DOF YuMi 14000 ABB Collaborative Robot for YuMi (IRB 14000 Dual-arm) in dexterity.
Source - Global Search with Bernoulli Alternation Kernel for Task-oriented Grasping Informed by Simulation
2018-10-10 - Research Publication - The method uses simulation-informed Bayesian optimization and real YuMi trials to find task-appropriate grasps for novel objects.
Source - Dex-Net 3.0: Computing Robust Robot Vacuum Suction Grasp Targets in Point Clouds using a New Analytic Model and Deep Learning
2017-09-19 - Research Publication - Vacuum-based end effectors are widely used in industry and are often preferred over parallel-jaw and multifinger grippers due to their ability to lift objects with a single point of contact. Suction grasp planners often target planar surfaces on point clouds near the estimated centroid of an object.
Source - Dual quaternion based kinematic control for Yumi dual arm robot
2017-06-01 - Research Publication - The URAI paper presents dual-quaternion kinematic control for the YuMi dual-arm robot.
Source - Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics
2017-03-27 - Research Publication - To reduce data collection time for deep learning of robust robotic grasp plans, we explore training from a synthetic dataset of 6. 7 million point clouds, grasps, and analytic grasp metrics generated from thousands of 3D models from Dex-Net 1.
Source
Resources
Media library
- Dual-arm YuMi product view
image · ABB Robotics
Source - Dual-arm YuMi gallery view
image · ABB Robotics
Source
Official ABB specifications, service documentation and exact product media for the dual-arm YuMi IRB 14000 collaborative robot.
- IRB 14000 product specification
PDF · IRB 14000 · ABB Robotics
Source - IRB 14000 product manual
PDF · IRB 14000 · ABB Robotics
Source
Timeline
- ABB Robotics Uses 3D Printing for Functional Prototyping
2016-09-23 - Demonstration - ABB Robotics utilized the Ultimaker 2 Extended+ 3D printer to create prototype fingers for their YuMi robot. This approach reduced the prototyping process from several weeks to just a few days. The 3D-printed designs were significantly more cost-effective and quicker to produce compared to traditional aluminum fingers.
Source - ABB introduces YuMi, world's first truly collaborative dual-arm robot
2015-04-13 - Product Launch - ABB introduced YuMi (IRB 14000), a dual-arm collaborative robot designed for small-parts assembly and safe human-robot workcells. YuMi combines force-sensitive safety behavior, vision-assisted handling, and lead-through programming to speed flexible production setup.
Source
Context
Market context
YuMi is ABB dual-arm collaborative robot designed for small-parts assembly and fine industrial tasks requiring two-handed manipulation.
- Target environment: Factory floors and manufacturing workcells.
- Workflow context: Small-parts assembly, fine manipulation and two-handed industrial tasks in compact production environments.
- Customer context: Industrial manufacturers deploying dual-arm collaborative robots for assembly.
- Deployment model: Commercial product from ABB collaborative robot family.
- Commercial maturity: Established dual-arm cobot from a major industrial robotics OEM.
- Adoption constraints: Fixed mounting limits mobility. Designed for defined workcell assembly tasks.
- Market position: ABB dual-arm cobot for small-parts assembly and fine two-handed industrial tasks.
- Adjacent products: NEXTAGE, dual-arm industrial robots
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