Rollin´ Justin - Design considerations and realization of a mobile platform for a humanoid upper body

Author

Fuchs, M. ; Borst, Ch ; Giordano, P. Robuffo ; Baumann, A. ; Kraemer, E. ; Langwald, J. ; Gruber, R. ; Seitz, N. ; Plank, G. ; Kunze, K. ; Burger, R. ; Schmidt, F. ; Wimboeck, T. ; Hirzinger, G.

Author_Institution

Inst. of Robot. & Mechatron., German Aerosp. Center, Oberpfaffenhofen, Germany

fYear

2009

fDate

12-17 May 2009

Firstpage

4131

Lastpage

4137

Abstract

Research on humanoid robots for use in servicing tasks, e.g. fetching and delivery, attracts steadily more interest. With Rollin´ Justin a mobile robotic system and research platform is presented that allows the implementation and demonstration of sophisticated control algorithms and dexterous manipulation. Important problems of service robotics such as mobile manipulation and strategies for using the increased workspace and redundancy in manipulation task can be studied in detail. This paper gives an overview of the design considerations for a mobile platform and their realizations to transform the formerly table-mounted humanoid upper body system Justin into Rollin´ Justin, a fully self-sustaining mobile research platform.

Keywords

dexterous manipulators; humanoid robots; mobile robots; dexterous manipulation; humanoid robot; mobile platform; mobile robot; sophisticated control algorithm; table-mounted humanoid upper body system; Arm; Control systems; Hardware; Humanoid robots; Leg; Mechatronics; Mobile robots; Robotics and automation; Robust control; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2009. ICRA '09. IEEE International Conference on

Conference_Location

Kobe

ISSN

1050-4729

Print_ISBN

978-1-4244-2788-8

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2009.5152464

Filename

5152464