System design and control of anthropomorphic walking Robot LOLA

Sebastian Lohmeier; Thomas Buschmann; Heinz Ulbrich

doi:10.1109/TMECH.2009.2032079

System design and control of anthropomorphic walking Robot LOLA

Sebastian Lohmeier, Thomas Buschmann, Heinz Ulbrich

Lehrstuhl für Angewandte Mechanik

Technische Universität München

Publikation: Beitrag in Fachzeitschrift › Artikel › Begutachtung

80 Zitate (Scopus)

Abstract

This paper presents the 25-DOF full-size humanoid robot LOLA. Our goal is to realize fast and human-like walking. Furthermore, we want to increase the robots autonomous, vision-guided walking capabilities. LOLA is characterized by a redundant kinematic configuration, an extremely lightweight design, joint actuators with brushless motors and an electronics architecture using decentralized joint control. Special emphasis was put on an improved mass distribution to achieve good dynamic performance. Center of mass trajectories are calculated in real-time from footstep locations using a spline collocation method. Reference trajectories are modified by a stabilizing control system based on hybrid force/position control with an inner joint position control loop.

Originalsprache	Englisch
Aufsatznummer	5282538
Seiten (von - bis)	658-666
Seitenumfang	9
Fachzeitschrift	IEEE/ASME Transactions on Mechatronics
Jahrgang	14
Ausgabenummer	6
DOIs	https://doi.org/10.1109/TMECH.2009.2032079
Publikationsstatus	Veröffentlicht - Dez. 2009

Zugriff auf Dokument

10.1109/TMECH.2009.2032079

Andere Dateien und Links

Verknüpfung zur Publikation in Scopus

Dieses zitieren

@article{ec976420585e40caa6605c1cf9965292,

title = "System design and control of anthropomorphic walking Robot LOLA",

abstract = "This paper presents the 25-DOF full-size humanoid robot LOLA. Our goal is to realize fast and human-like walking. Furthermore, we want to increase the robots autonomous, vision-guided walking capabilities. LOLA is characterized by a redundant kinematic configuration, an extremely lightweight design, joint actuators with brushless motors and an electronics architecture using decentralized joint control. Special emphasis was put on an improved mass distribution to achieve good dynamic performance. Center of mass trajectories are calculated in real-time from footstep locations using a spline collocation method. Reference trajectories are modified by a stabilizing control system based on hybrid force/position control with an inner joint position control loop.",

keywords = "Anthropomorphic robots, Humanoid robots, Legged locomotion, Robot design, Robot dynamics, Walking control",

author = "Sebastian Lohmeier and Thomas Buschmann and Heinz Ulbrich",

note = "Funding Information: Manuscript received February 13, 2009; revised July 1, 2009. First published October 9, 2009; current version published November 11, 2009. Recommended by Guest Editor M. Goldfarb. This work was supported by the Deutsche Forschungsgemeinschaft under Grant UL 105/29.",

year = "2009",

month = dec,

doi = "10.1109/TMECH.2009.2032079",

language = "English",

volume = "14",

pages = "658--666",

journal = "IEEE/ASME Transactions on Mechatronics",

issn = "1083-4435",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "6",

}

TY - JOUR

T1 - System design and control of anthropomorphic walking Robot LOLA

AU - Lohmeier, Sebastian

AU - Buschmann, Thomas

AU - Ulbrich, Heinz

N1 - Funding Information: Manuscript received February 13, 2009; revised July 1, 2009. First published October 9, 2009; current version published November 11, 2009. Recommended by Guest Editor M. Goldfarb. This work was supported by the Deutsche Forschungsgemeinschaft under Grant UL 105/29.

PY - 2009/12

Y1 - 2009/12

N2 - This paper presents the 25-DOF full-size humanoid robot LOLA. Our goal is to realize fast and human-like walking. Furthermore, we want to increase the robots autonomous, vision-guided walking capabilities. LOLA is characterized by a redundant kinematic configuration, an extremely lightweight design, joint actuators with brushless motors and an electronics architecture using decentralized joint control. Special emphasis was put on an improved mass distribution to achieve good dynamic performance. Center of mass trajectories are calculated in real-time from footstep locations using a spline collocation method. Reference trajectories are modified by a stabilizing control system based on hybrid force/position control with an inner joint position control loop.

AB - This paper presents the 25-DOF full-size humanoid robot LOLA. Our goal is to realize fast and human-like walking. Furthermore, we want to increase the robots autonomous, vision-guided walking capabilities. LOLA is characterized by a redundant kinematic configuration, an extremely lightweight design, joint actuators with brushless motors and an electronics architecture using decentralized joint control. Special emphasis was put on an improved mass distribution to achieve good dynamic performance. Center of mass trajectories are calculated in real-time from footstep locations using a spline collocation method. Reference trajectories are modified by a stabilizing control system based on hybrid force/position control with an inner joint position control loop.

KW - Anthropomorphic robots

KW - Humanoid robots

KW - Legged locomotion

KW - Robot design

KW - Robot dynamics

KW - Walking control

UR - http://www.scopus.com/inward/record.url?scp=70450227520&partnerID=8YFLogxK

U2 - 10.1109/TMECH.2009.2032079

DO - 10.1109/TMECH.2009.2032079

M3 - Article

AN - SCOPUS:70450227520

SN - 1083-4435

VL - 14

SP - 658

EP - 666

JO - IEEE/ASME Transactions on Mechatronics

JF - IEEE/ASME Transactions on Mechatronics

IS - 6

M1 - 5282538

ER -

System design and control of anthropomorphic walking Robot LOLA

Abstract

Zugriff auf Dokument

Andere Dateien und Links

Fingerprint

Dieses zitieren