Publikation
Catching Flying Balls and Preparing Coffee: Mobile Humanoid Rollin' Justin Perfoms Dynamic and Sensitive Tasks
Berthold Bäuml; Florian Schmidt; Thomas Wimböck; Oliver Birbach; Alex Dietrich; Matthias Fuchs; Werner Friedl; Udo Frese; Christoph Borst; Markus Grebenstein; Oliver Eiberger; Gerd Hirzinger
In: Proceedings of the IEEE International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation (ICRA-11), May 9-13, Shanghai, China, Pages 3443-3444, IEEE, 5/2011.
Zusammenfassung
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 shown. In this
video two new applications with challenging task requirements
are presented. One is the catching of one ore even two 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 different precision of Justin's
kinematic sub-chains into account and handling all timings in
sub-millisecond range.