Rollin' Justin - Mobile platform with variable base

Borst, Christoph; Wimböck, Thomas; Schmidt, Florian; Fuchs, Matthias; Brunner, Bernhard; Zacharias, Franziska; Giordano, Paolo Robuffo; Konietschke, Rainer; Sepp, Wolfgang; Fuchs, Stefan; Rink, Christian; Albu‐Schäffer, Alin; Hirzinger, Gerd

doi:10.1109/robot.2009.5152586

Cited by 125 publications

(81 citation statements)

References 6 publications

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“…Another example is a robot comprising a humanoid upper body mounted on a mobile base via flexible suspension, e.g. the robot Rollin' Justin designed at DLR (Borst et al, 2009) (see Fig. 3).…”

Section: Application To Flexible-base and Macro/mini Manipulator Systemsmentioning

confidence: 99%

“…the first free-floating space robot ETS-VII (Oda, 2000), the Japanese Experiment Module Remote Manipulator System (JEMRMS) on the International Space Station (Sato and Wakabayashi, 2001;Morimoto et al, 2001), the DLR robot Rollin' Justin with a humanoid upper body mounted on a mobile base with flexible suspension (Borst et al, 2009). In addition, we will introduce our recent result on how the RNS can be applied to a fixedbase manipulator for ensuring full dynamic decoupling of the end-link and the usefulness of this property in motion/force control tasks.…”

Section: Introductionmentioning

confidence: 99%

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Reaction Null Space of a multibody system with applications in robotics

Nenchev

2013

Mech. Sci.

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Abstract. This paper provides an overview of implementation examples based on the Reaction Null Space formalism, developed initially to tackle the problem of satellite-base disturbance of a free-floating space robot, when the robot arm is activated. The method has been applied throughout the years to other unfixed-base systems, e.g. flexible-base and macro/mini robot systems, as well as to the balance control problem of humanoid robots. The paper also includes most recent results about complete dynamical decoupling of the end-link of a fixed-base robot, wherein the end-link is regarded as the unfixed-base. This interpretation is shown to be useful with regard to motion/force control scenarios. Respective implementation results are provided.

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Section: Application To Flexible-base and Macro/mini Manipulator Systemsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Reaction Null Space of a multibody system with applications in robotics

Nenchev

2013

Mech. Sci.

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“…The result is squared (4) and accumulated (1). Overall, 6 instructions perform 8 evaluations of (2). The evaluations correspond to an identical contour but 8 successive …”

Section: Efficient Implementationmentioning

confidence: 99%

“…The proposed system consists of an object detector and a grasp motion planner. Thereby, known objects are detected by a stereo contour-based object detector and hand motion paths are planned by an A*-based algorithm while avoiding obstacles.Compared to skilled robots such as Justin [2] or ASIMO [3] online grasping with the Nao constitute as particular problem due to the limited processing power and the hand design. The methods proposed allow detecting and grasping objects in realtime on an affordable humanoid robot.…”

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confidence: 99%

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Grab a mug - Object detection and grasp motion planning with the Nao robot

Müller

Frese

Röfer

2012

2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)

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Abstract-In this paper we introduce an online grasping system for the Nao robot [1] manufactured by Aldebaran Robotics. The proposed system consists of an object detector and a grasp motion planner. Thereby, known objects are detected by a stereo contour-based object detector and hand motion paths are planned by an A*-based algorithm while avoiding obstacles.Compared to skilled robots such as Justin [2] or ASIMO [3] online grasping with the Nao constitute as particular problem due to the limited processing power and the hand design. The methods proposed allow detecting and grasping objects in realtime on an affordable humanoid robot.

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NimbRo Explorer: Semiautonomous Exploration and Mobile Manipulation in Rough Terrain

Stückler

Schwarz

Schadler

et al. 2015

Journal of Field Robotics

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Fully autonomous exploration and mobile manipulation in rough terrain are still beyond the state of the art—robotics challenges and competitions are held to facilitate and benchmark research in this direction. One example is the 2013 DLR SpaceBot Cup, for which we developed an integrated robot system to semiautonomously perform planetary exploration and manipulation tasks. Our robot explores, maps, and navigates in previously unknown, uneven terrain using a three‐dimensional laser scanner and an omnidirectional RGB‐D camera. We developed manipulation capabilities for object retrieval and pick‐and‐place tasks. Many parts of the mission can be performed autonomously. In addition, we developed teleoperation interfaces on different levels of shared autonomy, which allow for specifying missions, monitoring mission progress, and on‐the‐fly reconfiguration. To handle network communication interruptions and latencies between robot and operator station, we implemented a robust network layer for the middleware Robot Operating System (ROS). The integrated system has been demonstrated at the 2013 DLR SpaceBot Cup. In addition, we conducted systematic experiments to evaluate the performance of our approaches.

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Rollin' Justin - Mobile platform with variable base

Cited by 125 publications

References 6 publications

Reaction Null Space of a multibody system with applications in robotics

Reaction Null Space of a multibody system with applications in robotics

Grab a mug - Object detection and grasp motion planning with the Nao robot

NimbRo Explorer: Semiautonomous Exploration and Mobile Manipulation in Rough Terrain

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