German Aerospace Center - Rollin' Justin

A humanoid robot by German Aerospace Center with two arms, cameras, and sensors suitable as a platform for service robotics research.

Specifications

Dimension1.91m
Weight~200kg
Degrees of Freedom51 (Platform: 8, Arms: 2×7, Hands: 2×12, Neck: 2, Torso: 3)
Nominal payload20kg
Power supplyBattery with >60min operating time
Speed2 m/s | 7.2 km/h
Working spaceFrom the ground to a height of 2.7m
ParticularitiesTorque sensors in almost all joints
2 balance sensors (IMU)
2 stereo cameras, 5 RGB-D cameras
Compliant, hierarchical whole-body control

Overview

Extending the available platforms in service robotics research is the humanoid robot Rollin’ Justin. The robot’s application ranges from household functions to astronaut assistance in space.

Rollin’ Justin is an ideal platform for research, especially in two-handed manipulation, given its compliant lightweight arms and hands with four fingers. The mobile base prompts autonomous operation even on a large range. The stereo cameras and motion detector sensors work together, enabling 3D reconstruction of the robot environment.

The robot can act independently in unstructured, dynamic, and variable environments without human support but can also work alongside humans safely. Rollin’ Justin features various degrees of freedom actuated for pursuing multiple goals while following a task hierarchy.

Design

Rollin’ Justin, weighing approximately 200kg, stands 1.91m and can carry a nominal payload of 20kg. A battery supplies power for over an hour of operation at a speed of 2m/s or 7.2km/h. The robot has 51 overall DOF, 8 at the platform, 7 on each arm, 12 on each hand, 2 at the neck, and 3 on the torso. Torque sensors rest in almost every joint, and the robot has two balance sensors (IMU), 5 RGB-D cameras, and two stereo cameras.

Mechatronic Design

The system design utilizes preliminary works, such as the DLR Lightweight Robot III (LBR III) and the DLR Hand II. The upper body uses LBR technology, while the arms and hands expand the work range via the mobile platform. The robot, with an overall human-like structure,  can work up to a space of 2.7m from the ground.

Compliant Full Body Manipulation

Imposing a task hierarchy prompts Rollin’ Justin to follow a large number of simultaneous tasks and mobile manipulations. The term null scale projection summarizes the opportunity of strictly implementing the said hierarchy.

Autonomous Task Scheduling And Execution

It is a key ability for humanoid service robots to solve any manipulation task. Although, specific objects require specific handling methods, which makes Rollin’ Justin adopt a modular system architecture—allowing it to look at manipulation tasks depending on the material involved.

References

Robots IEEE

German Aerospace Center (DLR)

Wevolver 2023