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This research work acts on the basis of the recognition that a complex robot behavior with similar abilities of a human being is only possible by a permanent interaction between cognition components and the robot systems. The aim is to construct a light, flexible two-armed system with seven degrees of freedom per arm plus one or two degrees of freedom within grab and torso which shall enable the robot to carry out manipulation tasks while reaching a human level. Through a direct interaction between man and robot prototypical human skills shall be transferred onto the two- armed system. At the moment, the latter is build up equipped with torso, head and mobile platform. Present works are occupied with the development of a facial sense and a motion coordination for the robot concerning manipulation tasks.