Rollin' Justin - design considerations and realization of a mobile platform for a humanoid upper body

Authors:
M. Fuchs;Ch. Borst;P. Robuffo Giordano;A. Baumann;E. Kraemer;J. Langwald;R. Gruber;N. Seitz;G. Plank;K. Kunze;R. Burger;F. Schmidt;T. Wimboeck;G. Hirzinger
Affiliations:
German Aerospace Center - Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany;German Aerospace Center - Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany;German Aerospace Center - Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany;German Aerospace Center - Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany;German Aerospace Center - Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany;German Aerospace Center - Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany;German Aerospace Center - Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany;German Aerospace Center - Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany;German Aerospace Center - Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany;German Aerospace Center - Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany;German Aerospace Center - Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany;German Aerospace Center - Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany;German Aerospace Center - Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany;German Aerospace Center - Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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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.