TY - GEN
T1 - Humanoid robot LOLA
AU - Lohmeier, Sebastian
AU - Buschmann, Thomas
AU - Ulbrich, Heinz
PY - 2009
Y1 - 2009
N2 - This paper presents our new 25-DoF humanoid walking robot LOLA. The goal of our research is to realize a fast, human-like walking motion (target speed: 5 km/h). Furthermore, we want to increase the robot's autonomous, vision-guided walking capabilities. The robot has 25 degrees of freedom, including 7-DoF legs with actively driven toe joints. It is characterized by its lightweight construction, a modular, multi-sensory joint design with brushless motors and an electronics architecture using decentralized joint controllers. Special emphasis was put on an improved mass distribution of the leg apparatus to achieve good dynamic performance. The sensor system comprises absolute angular sensors in all links, two custom-made force/torque sensors in the feet and a high-precision inertial sensor in the upper body. Trajectory generation and control system aim at faster, more flexible, and more robust walking patterns.
AB - This paper presents our new 25-DoF humanoid walking robot LOLA. The goal of our research is to realize a fast, human-like walking motion (target speed: 5 km/h). Furthermore, we want to increase the robot's autonomous, vision-guided walking capabilities. The robot has 25 degrees of freedom, including 7-DoF legs with actively driven toe joints. It is characterized by its lightweight construction, a modular, multi-sensory joint design with brushless motors and an electronics architecture using decentralized joint controllers. Special emphasis was put on an improved mass distribution of the leg apparatus to achieve good dynamic performance. The sensor system comprises absolute angular sensors in all links, two custom-made force/torque sensors in the feet and a high-precision inertial sensor in the upper body. Trajectory generation and control system aim at faster, more flexible, and more robust walking patterns.
UR - http://www.scopus.com/inward/record.url?scp=70350771434&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2009.5152578
DO - 10.1109/ROBOT.2009.5152578
M3 - Conference contribution
AN - SCOPUS:70350771434
SN - 9781424427895
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 775
EP - 780
BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -