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Paper WeAV215.5

Baeuml, Berthold (German Aerospace Center (DLR)), Schmidt, Florian (German Aerospace Center), Wimboeck, Thomas (German Aerospace Center (DLR)), Birbach, Oliver (DFKI), Dietrich, Alexander (German Aerospace Center (DLR)), Fuchs, Matthias (German Aerospace Center), Friedl, Werner (Institute of Robotics and Mechatronics, German AerospaceCenter (), Frese, Udo (Universitšt Bremen), Borst, Christoph (German Aerospace Center (DLR)), Grebenstein, Markus (German Aerospace Center (DLR)), Eiberger, Oliver (DLR - German Aerospace Center), Hirzinger, Gerd (German Aerospace Center (DLR))

Catching Flying Balls and Preparing Coffee: Humanoid RolliníJustin Performs Dynamic and Sensitive Tasks

Scheduled for presentation during the Video Sessions "Video Session II: Humanoid and Service Robotics" (WeAV215), Wednesday, May 11, 2011, 10:37−10:45, Room 3A

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 24, 2014

Keywords Humanoid Robots

Abstract

The mobile humanoid Rolliní 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 Justinís degrees of freedom. The other is the autonomous preparation of coffee. One represents tasks with high dynamic requirements and the other stands for very precise manipulation in ordinary human environments. 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 Justinís kinematic sub-chains into account and handling all timings in sub-milisecond range.

 

 

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