Rollin' Justin - Mobile platform with variable base

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. I. SYSTEM DESIGN AND CONTROL In figure 1 our mobile humanoid two-arm system Rollin’ Justin is presented that combines the upper-body system ”Justin” [1] and a newly developed mobile platform [2]. It is designed for research on sophisticated control algorithms for complex kinematic chains as well as mobile two-handed manipulation and navigation in typical human environments. A. The Upper Body For the mechanical design of the upper body the following requirements have been ta...

• Type: Conference
• Year: 2009
• Where: ICRA
• 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
• Keywords: ICRA 2009, Mobile Platform, Mobile Two-handed Manipulation, Robotics, Sophisticated Control Algorithms