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The workspace and performance of a humanoid robot is decisively influenced by the design of its torso. The joints or spinal discs are usually the weak points due to the high stress they are exposed to, e. g. when lifting heavy objects. One way to circumvent the necessity of large motors is to use parallel mechanisms to optimize the distribution of loads. Here, we analyze the workspace of the humanoid...
The mobile humanoid Rollin'Justin is a versatile experimental platform for research in manipulation tasks. Previously, different state of the art control methods and first autonomous task execution scenarios have been demonstrated. In this video two new applications with challenging task requirements are presented. One is the catching of one or even two flying balls using all of Justin's degrees of...
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