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 Seiten 3443-3444 IEEE 5/2011.


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.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence