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Rollin’ Justin – Design considerations and realization of a mobile platform for a humanoid upper body

Fuchs, Matthias and Borst, Christoph and Robuffo-Giordano, Paolo and Baumann, Andreas and Krämer, Erich and Langwald, Joerg and Gruber, Robin and Seitz, Nikolaus and Plank, Georg and Kunze, Klaus and Burger, Robert and Schmid, Florian and Wimböck, Thomas and Hirzinger, Gerd (2009) Rollin’ Justin – Design considerations and realization of a mobile platform for a humanoid upper body. In: Proceedings. ICRA2009, International Conference on Robotics and Automation, 12. Mai - 17. Mai 2009, Kobe, Japan.

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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.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Rollin’ Justin – Design considerations and realization of a mobile platform for a humanoid upper body
Authors:
AuthorsInstitution or Email of Authors
Fuchs, Matthiasmatthias.fuchs@dlr.de
Borst, ChristophChristoph.Borst@dlr.de
Robuffo-Giordano, Paolorobuffo@dis.uniroma1.it
Baumann, AndreasAndreas.Baumann@dlr.de
Krämer, ErichErich.Kraemer@dlr.de
Langwald, JoergJoerg.Langwald@dlr.de
Gruber, RobinRobin.Gruber@dlr.de
Seitz, NikolausNikolaus.Seitz@dlr.de
Plank, GeorgGeorg.Plank@dlr.de
Kunze, KlausKlaus.Kunze@dlr.de
Burger, Robertrobert.burger@dlr.de
Schmid, FlorianFlorian.Schmid@dlr.de
Wimböck, ThomasThomas.Wimböck@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Date:12 May 2009
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Mobile platform, humanoid upper body
Event Title:ICRA2009, International Conference on Robotics and Automation
Event Location:Kobe, Japan
Event Type:international Conference
Event Dates:12. Mai - 17. Mai 2009
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:14 Jan 2010 17:09
Last Modified:12 Dec 2013 20:52

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