In the future humanoid robots are envisioned in household applications as well as in space environments. The capability to carry out complex manipulation tasks is a key issue. For its achievement the development of robust control strategies and intelligent manipulation planners for dual handed manipulation is currently a matter of active research in the robotics community.
The mobile robotic system Justin with its compliant controlled light weight arms and its two four finger hands is an ideal experimental platform for these research issues. The newly developed mobile platform allows the long range autonomous operation of the system. The individually movable, spring born wheels match the special requirements of “Justin's” upper body during manipulation tasks. PMD sensors and cameras allow the 3D reconstruction of the robot's environment and therefore enable Justin to perform given tasks autonomously.