Rollin' Justin: mobile platform with variable base

Authors:
Christoph Borst;Thomas Wimböck;Florian Schmidt;Matthias Fuchs;Bernhard Brunner;Franziska Zacharias;Paolo Robuffo Giordano;Rainer Konietschke;Wolfgang Sepp;Stefan Fuchs;Christian Rink;Alin Albu-Schäffer;Gerd Hirzinger
Affiliations:
Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany;Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany;Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany;Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany;Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany;Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany;Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany;Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany;Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany;Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany;Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany;Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany;Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, 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 sophisticated control algorithms and dexterous manipulation. This video gives an overview of the mobile humanoid robotic system "Rollin' Justin" with special emphasis on mechanical design features, control issues and high-level system capabilities such as human robot interaction.