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Konferenzbeitrag

Rollin' Justin: Design considerations and realization of a mobile platform for a humanoid upper body

MPG-Autoren
http://pubman.mpdl.mpg.de/cone/persons/resource/persons84174

Borst C, Robuffo Giordano,  P
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Zitation

Fuchs, M., Borst C, Robuffo Giordano, P., Baumann A, Kraemer E, Langwald J, Gruber R, Seitz N, Plank G, Kunze K, Burger R, Schmidt F, Wimböck, T., & Hirzinger, G. (2009). Rollin' Justin: Design considerations and realization of a mobile platform for a humanoid upper body. In IEEE International Conference on Robotics and Automation (ICRA '09) (pp. 4131-4137). Piscataway, NJ, USA: IEEE Service Center.


Zitierlink: http://hdl.handle.net/11858/00-001M-0000-0013-C501-E
Zusammenfassung
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.