Catching Flying Balls and Preparing Coffee: Humanoid Rollin’Justin Performs Dynamic and Sensitive Tasks
The mobile humanoid Rollin’Justin is a versatile experimental platform for research in manipulation tasks. Previously, different state of the art control methods and first autonomous task execution scenarios have been demonstrated. In this video two new applications with challenging task re- requirements are presented. One is the catching of one or even two quirements flying balls using all of Justin’s degrees of freedom. The other is the autonomous preparation of coffee. Both applications need adequate sensors to support local referencing. The required precision in position and timing is realized in software, using the sensor information, taking the varying precision of Justin’s kinematic sub-chains into account and handling all timings in sub-millisecond range.
Berthold B(a)uml Markus Grebenstein Oliver Eiberger Gerd Hirzinger Florian Schmidt Thomas Wimb(o)ck Oliver Birbach Alexander Dietrich Matthias Fuchs Werner Friedl Udo Frese Christoph Borst
DLR Institute of Robotics and Mechatronics,M(u)nchnerstr. 20,82234 Wessling,Germany German Center for Artificial Intelligence (DFKI). 28359 Bremen,Germany
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3443-3444
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）