Home News About Us Contact Contributors Disclaimer Privacy Policy Help FAQ

Home
Search
Quick Search
Advanced
Fulltext
Browse
Collections
Persons
My eDoc
Session History
Login
Name:
Password:
Documentation
Help
Support Wiki
Direct access to
document ID:


          Institute: MPI für biologische Kybernetik     Collection: Biologische Kybernetik     Display Documents



ID: 461760.0, MPI für biologische Kybernetik / Biologische Kybernetik
Rollin’ Justin: Design considerations and realization of a mobile platform for a humanoid upper body
Authors:Fuchs, M.; Borst, C.; Giordano, P.; Baumann, A.; Kraemer, E.; Langwald, J.; Gruber, R.; Seitz, N.; Plank, G.; Kunze, K.; Burger, R.; Schmidt, F.; Wimböck, T.; Hirzinger, G.
Date of Publication (YYYY-MM-DD):2009-05
Title of Proceedings:Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA 2009)
Start Page:4131
End Page:4137
Physical Description:7
Audience:Not Specified
Intended Educational Use:No
Abstract / Description: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.
External Publication Status:published
Document Type:Conference-Paper
Communicated by:Holger Fischer
Affiliations:MPI für biologische Kybernetik/Psychophysics (Dept. Bülthoff)
Identifiers:LOCALID:5894
URL:http://www.icra2009.org/
The scope and number of records on eDoc is subject to the collection policies defined by each institute - see "info" button in the collection browse view.