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As a result of intensive research over the last few decades, several robotic systems are approaching a level of maturity that allows robust task execution and safe interaction with humans and the environment. Particularly when considering the aging of the population, service and household robotics is expected to play an important role in future domestic(More)
The technological progress in the field of robotics results in more and more complex manipulators. However, having an increasing number of degrees of freedom raises the question of how to use them effectively. In turn, establishing manipulators in human environments, e.g., as service robots, calls for the fulfillment of various constraints and tasks at the(More)
Many household chores and industrial manufacturing tasks require a certain compliant behavior to make deliberate physical contact with the environment. This compliant behavior can be implemented by modern robotic manipulators. However, in order to plan the task execution, a robot requires generic process models of these tasks which can be adapted to(More)
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(More)
A feedback control to generate jumping motions for compliantly actuated multilegged robots is proposed. The method allows to specify the direction of the jumping motion. This is achieved by a constraint that defines a one-dimensional submanifold and a bang-bang control which generates a limit cycle on this submanifold. The approach is based on classical(More)
Many houseworks such as cleaning the floor or wiping the windows require to manipulate tools over wide areas. It is necessary to move along a path while manipulating a tool with the whole body and applying exactly the right amount of force to successfully accomplish the task. So mastering such a challenge demands detailed knowledge about the involved(More)
Reactively dealing with self-collisions is an important requirement on multidegree-of-freedom robots in unstructured and dynamic environments. Classical methods to integrate respective algorithms into task hierarchies cause substantial problems: Either these unilateral safety constraints are permanently active, unnecessarily locking DOF for other tasks, or(More)
Compliant actuators in robotic systems improve robustness against rigid impacts and increase the performance and efficiency of periodic motions such as hitting, jumping and running. However, in the case of rigid impacts, as they can occur during hitting or running, the system behavior is changed compared to free motions which turns the control into a(More)
Robots with a large number of actuated degrees of freedom are usually redundant w.r.t. a given task. That kinematic redundancy can be utilized to execute additional tasks simultaneously, e. g. via null space projection techniques. We introduce a new representation of hierarchical robot dynamics which are based on a set of particular null space velocities.(More)