English
 
User Manual Privacy Policy Disclaimer Contact us
  Advanced SearchBrowse

Item

ITEM ACTIONSEXPORT

Released

Conference Paper

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

MPS-Authors
There are no MPG-Authors available
Fulltext (public)
There are no public fulltexts stored in PuRe
Supplementary Material (public)
There is no public supplementary material available
Citation

Fuchs, M., Borst, C., Robuffo Giordano, P., Baumann, A., Kraemer, E., Langwald, J., et al. (2009). Rollin' Justin: Design considerations and realization of a mobile platform for a humanoid upper body. In 2009 IEEE International Conference on Robotics and Automation (pp. 4131-4137). Piscataway, NJ, USA: IEEE Service Center.


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