Rollin' Justin
Wheeled humanoid from DLR with torque controlled arms and hands, commanded from the International Space Station in orbital telerobotics experiments.
| Maker | German Aerospace Center DLR |
|---|---|
| Country | Germany |
| First shown | 2008 |
| Status | Research platform |
| Height | 1.91 m |
| Mass | 200 kg |
| Payload | 20 kg |
| Top speed | 2 m/s (7.2 km/h) |
| Degrees of freedom | 51 |
| Runtime | 1 h |
| Actuation | Torque controlled electric joints with tendon driven hands |
| Sensors | Torque sensors in nearly all joints, two stereo cameras, five depth cameras, inertial units |
Rollin' Justin combines the Justin humanoid upper body, first built in 2006, with a four legged wheeled base whose legs extend and retract, giving 51 degrees of freedom, a height of 1.91 m and a mass around 200 kg. Nearly every joint measures torque, so a hierarchical whole body controller can grip objects softly, absorb collisions and juggle several tasks at once, while the robot carries about 20 kg and moves at up to 2 m/s. In the METERON SUPVIS Justin experiments, astronauts aboard the space station commanded it through a tablet interface to service a mock Mars solar array on the ground in Germany.
Of note
- Commanded from the International Space Station in the METERON SUPVIS Justin experiments
- Torque sensing in nearly every joint for compliant whole body control
Maker: www.dlr.de