EtherCAT is the basis for a uniform communication platform for mobile service robots of the future.
The development of humanoid robots has made significant progress in recent years. Rollin’ Justin, developed by the German Aerospace Center (DLR), can perform complex, two-handed manipulations and can move freely about rooms. Rollin’ Justin is a prototype of the kind of service robot that could be used in future for fetching items in a warehouse. The fast communication necessary for the movement sequences takes place via EtherCAT, while the Beckhoff TwinCAT PLC automation software takes care of control.
Rollin’ Justin is the result of over 10 years of research at DLR. The lightweight robot arms and hands, like those used for example for maintenance work in space, are the basis for the development of a mobile robot in the shape of a human being. The robot’s grasping range can be extended by means of the torso and the mobile platform with four separately retractable and extendable legs mounted on roller bearings, analogous to the trunk and leg movements with which a human extends his radius of action.
Torque sensors permit sensitive manipulations
The upper body alone has 43° of freedom equipped with torque sensors. A total of 51 joints make Rollin’ Justin a highly mobile automaton that can manipulate and interact sensitively. The robot skillfully manipulates objects with two hands and is able, for example, to carry a crate or prepare instant tea. The latter requires complex coordination of movements.
Coordination of arms and hands depends on the kind of manipulation required. The grasping of a large object such as a crate requires the tight coordination of both arms. The opening of a screw cap, on the other hand, requires the synchronous movement of hand and arm.
Rollin’ Justin also interacts with humans and its environment. If it knocks against something or touches a person, it aborts the movement or asks whether it should continue working.
Via an integrated speech recognition system, it knows about 100 words and can combine them into meaningful phrases. It uses built-in cameras to collect information from its environment and can identify objects in order to orientate itself accordingly.
The torque sensors ensure that Rollin’ Justin can also grasp sensitive objects such as strawberries without crushing them.
The robot’s footprint is variable. When performing highly dynamic actions or actions requiring a particularly long reach, Rollin’ Justin stabilises its upper body by enlarging its footprint. To do this it extends its legs. If it needs to traverse a narrow passage, it retracts the legs again.
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