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Rollin' Justin

Der humanoide Roboter Rollin Justin

The humanoid robot Rollin' Justin is a platform for research in service robotics. Areas of application for the system are, in particular, household work and assisting astronauts in space.
The robot was first presented to the public in 2008.

 

Technical data

Size: Adult human (1.91 m)
Weight: approx. 200 kg
Degrees of freedom: 51 (platform: 8, arms: 2 × 7, hands: 2 × 12, neck: 2, torso: 3)
Nominal load capacity: 20 kg

Energy supply:

Battery with operating time of > 60 min
Speed: 2 m/s or 7.2 km/h
Working space: From the floor to a height of 2.7 m
Special features: • Torque sensors in nearly all joints
• 2 balance sensors (IMU)
• 2 stereo cameras, 5 RGB-D cameras
• Compliant, hierarchical whole-body control
• Semi-autonomy for terrestrial and extraterrestrial applications

System description

Rollin' Justin’s compliant light-weight arms and four-finger hands make it an ideal platform for research into sensitive, ambidextrous manipulation. The mobile base allows autonomous operation over a long range. Motion detection sensors and stereo cameras enable 3D reconstruction of the robot’s environment. Unstructured, variable and dynamic environments require the robot to act independently and without human support. On the other hand, the robot must be able to work safely with people. Its multiple actuated degrees of freedom allow Rollin' Justin to pursue several goals at the same time while complying with a task hierarchy. For example, the robot can serve beverages while observing the environment, moving without singularity, avoiding collisions, compliantly responding to collisions with the environment – all without spilling the drinks.

Mechatronic Design


The system design uses preliminary works of the institute, namely the DLR Light Weight Robot III (LWR III) and the DLR Hand II. The torso based on LWR technology and the mobile platform enlarge the workspace of the arms and hands. The overall design resembles a human-like shape.
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Mobile Manipulation


Many houseworks require to manipulate tools over wide areas. The most relevant example for such a task is cleaning, where a cleaning device needs to be guided along a dirty surface. Reasoning about an appropriate parameterization of the task is thereby essential.
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Compliant Whole-Body Manipulation


Reactive, multi-objective mobile manipulation on Rollin' Justin is realized by imposing a task hierarchy via null space projections. Higher priority tasks are executed while lower priority tasks are only accomplished if enough kinematic redundancy is left.
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Autonomous Task Planning and Execution


Solving arbitrary manipulation tasks is a key feature for humanoid service robots. Different objects require different handling methods. Therefore, a modular system architecture has been developed to autonomously solve manipulation tasks from the object point of view.
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Research Group


People working at and with Rollin' Justin.
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Justin liest eine Zeitung

Publications


Selected publications related to Rollin' Justin.
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Rollin' Justin - Bildergalerie

Localization of Rollin' Justin in a simulated environment

 

Credit: DLR (CC-BY3.0).

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Instructed from space

Robot experiment "SUPVIS Justin" between ISS and Oberpfaffenhofen 

Credit: DLR (CC-BY 3.0).

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Instructed from space

Robot experiment "SUPVIS Justin" between ISS and Oberpfaffenhofen 

Credit: DLR (CC-BY 3.0).

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Use of everyday objects and devices

Due to sophisticated control methods, sensing, and dexterous trajectory planning, Rollin' Justin is able to use common devices such as coffee machines. 

Credit: DLR (CC-BY 3.0).

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Nutzung alltäglicher Gegenstände und Bedienung von Haushaltsgeräten

Intelligent planning of manipulation tasks

Intelligent task planning is essential for universal service robots in domestic environments. A large number of possible grasps has to be planned in advance, and the best one among them has to be chosen in the end. 

Credit: DLR (CC-BY 3.0).

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Intelligent planning of manipulation tasks

Human-robot cooperation

An important ability of future service robots is to physically cooperate with humans, for example in carrying heavy or bulky objects together. 

Credit: DLR (CC-BY 3.0).

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Human%2drobot cooperation

Dexterous object manipulation

Due to the torque sensing in the finger joints Rollin' Justin is able to perform dexterous manipulation tasks. One example is to grasp a plastic cup without sqashing it. 

Credit: DLR (CC-BY 3.0).

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Dexterous object manipulation

The humanoid Robot Rollin' Justin

The mobile humanoid robot Rollin' Justin is utilized as a research platform for autonomous dexterous mobile manipulation in human environments. In the future humanoid robots are envisioned in household applications as well as in space environments. 

Credit: DLR (CC BY-NC-ND 3.0).

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The humanoid Robot Rollin' Justin

Rollin' Justin sweeping shards of a broken mug

The research efforts around Rollin 'Justin investigate compliant whole-body motions and their effects on the environment. Exemplary everyday household tasks include window wiping, sweeping, or vacuuming the floor. 

Credit: DLR (CC BY-NC-ND 3.0).

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Rollin' Justin sweeping shards of a broken mug

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Publications

You can find a complete list of all publications associated with Rollin' Justin on our  Publications Page. A selection of recent publications:

  • Schmaus et al., “Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker”, IEEE Robotics and Automation Letters, 5 (1), Seiten 143-150. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/LRA.2019.2948128 ISSN 2377-3766, 2020.
  • Bauer et al., “Probabilistic Effect Prediction through Semantic Augmentation and Physical Simulation”, In: IEEE International Conference on Robotics and Automation ICRA, Seiten 9278-9284. IEEE International Conference on Robotics and Automation (ICRA), 31. May - 31. Aug 2020, Paris, France. DOI: 10.1109/ICRA40945.2020.9197477, 2020.
  • Vogel et al., "An Ecosystem for Heterogeneous Robotic Assistants in Caregiving", accepted for publication in IEEE Robotics and Automation Magazine (RAM), 2020.
  • Sewtz et al., “Robust MUSIC-Based Sound Source Localization in Reverberant and Echoic Environments”, In: 2020 IEEE International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Robots and Systems IROS, Las Vegas, USA, 2020.
  • Leidner, “Cognitive Reasoning for Compliant Robot Manipulation”, Springer Tracts in Advanced Robotics, 127. Springer. ISBN 978-3-030-04857-0. ISSN 1610-7438, 2019.
  • Lii et al., „The Robot as an Avatar or Co-worker? An Investigation of the Different Teleoperation Modalities through the KONTUR-2 and METERON SUPVIS Justin Space Telerobotic Missions”, In: Proceedings of the International Astronautical Congress, IAC. 69th International Astronautical Congress (IAC), Bremen, Germany, 1-5 Oct 2018, Bremen, Germany, 2018.
Contact
Peter Schmaus
German Aerospace Center

Institute of Robotics and Mechatronics
, Autonomy and Teleoperation
Oberpfaffenhofen-Weßling

Tel.: +49 8153 28-1879

Fax: +49 8153 28-1134

Maximilian Denninger
German Aerospace Center

Institute of Robotics and Mechatronics
, Perception and Cognition
Oberpfaffenhofen-Weßling

Tel.: +49 8153 28-3240

Fax: +49 8153 28-1134

Rollin' Justin
Mechatronics
Publications
Research group
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Videos and media
n-tv: Assistenzroboter im Haushalt und Weltraum
Wiping Motions and Haptic Perception
Planning and Execution of Daily Cleaning Tasks
Towards Intelligent Compliant Service Robots
Shared Autonomy Human-Robot-Interface
Abendschau: Putzroboter
Downloads
Rollin' Justin flyer 2016 (2.72 MB)
Agile Justin flyer 2016 (1.82 MB)
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