Our
domestic service robot Dynamaid was constructed for the RoboCup 2009
@Home competition, which took place in Graz.
Dynamaid has an
eight-wheeled omnidirectional base (12 DOF), a movable trunk (2 DOF),
two anthropomorphic arms (7 DOF each), and a movable sensor head (2
DOF).
The robot base has four individually steerable axes. It can
move omnidirectionally.
The base uses eight Dynamixel EX-106
to drive the wheels. Each pair of wheels is attached to the main plate
using a
Dynamixel RX-64 actuator.
The base is equipped with a Sick S300 laser-range-scanner and a Lenovo
X200 subnotebook.
Its maximum payload is 20kg. Maximal speed is 0.5m/s.
It is able to map indoor environments, to plan global paths, and to
avoid
obstacles.
The antropomorphic arm has 7 joints, which are driven by
Dynamixel actuators.
The arm is equipped with a 2DOF gripper.
Its maximal payload is 1kg.
The arm is controlled using inverse kinematics. The redundancy is
resolved using nullspace optimization.
The sensor head contains two FireWire-800 color cameras, a MESA SR4000 time-of-flight camera, and a directional microphone.
The trunk is also equipped with a movable laser scanner.
Together with Robotinho, Dynamaid
won the innovation award. Our team Nimbro@Home came in third in the
overall ranking.
We also reached the second place in the @Home league
of RoboCup German Open.
Our humanoid robot Robotinho has been originally developed for
the RoboCup Humanoid League TeenSize class.
For intuitive multimodal communication with humans, it has been
equipped with an expressive
head, movable cameras, a laser scanner, and ultrasonic distance
sensors.
The robot has 40 DOF: 25
DOF in the body and 15 DOF in the head. Robotinho is 110cm tall and
weights about 6kg.
The
robot's name was chosen in a
public vote organized by ZDF.
Robotinho participated in the
TeenSize class of the Humanoid
League at RoboCup 2006 in Bremen, where it reached the
Penalty Kick final.
Robotinho conducted The
12 Chellists of The
Berlin Philharmonic in the Q110.
It demonstrated its communcation skills in
multiple lab demos.
The robot base has four individually steerable axes. It can
move omnidirectionally.
The base uses four Roomba 530
as drive units. Each drive unit is attached to the main plate using a
Dynamixel RX-64 actuator.
The base is equipped with a Sick S300 laser-range-scanner and a Lenovo
X200 subnotebook.
Its maximum payload is 20kg. Maximal speed is 0.5m/s.
It is able to map indoor environments, to plan global paths, and to
avoid
obstacles.