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. The mobile humanoid robot Rollin' Justin is utilized as a research platform for autonomous dexterous mobile manipulation in human environments.
The compliant controlled light weight arms and the two four-fingered hands of the robot make it an ideal experimental platform for these research issues. The mobile platform allows the long range autonomous operation of the system. The individually movable, spring-borne wheels match the special requirements of Rollin' Justin's upper body during manipulation tasks. Motion sensing sensors and stereo cameras allow the 3D reconstruction of the environment of the robot. Unstructured, variable and dynamic environments require a robot to act based on the given situation without human intervention. On the other hand, cooperating with a human is sometimes the only way to solve a certain task.