TY - GEN
T1 - Walking humanoid robot Lola
T2 - 21. Fachgesprach Autonome Mobile Systeme, AMS 2009 - 21st Expert Discussion on Autonomous Mobile Systems, AMS 2009
AU - Schwienbacher, Markus
AU - Favot, Valerio
AU - Buschmann, Thomas
AU - Lohmeier, Sebastian
AU - Ulbrich, Heinz
N1 - Funding Information:
This work is supported by the “Deutsche Forschungsgemeinschaft” (grant UL 105/29).
PY - 2009
Y1 - 2009
N2 - Based on the experience gathered from the walking robot Johnnie the new performance enhanced 25-DoF humanoid robot Lola was built. The goal of this project is to realize a fast, human-like walking. This paper presents different aspects of this complex mechatronic system. Besides the overall lightweight construction, custom build multi-sensory joint drives with high torque brush-less motors were crucial for reaching the performance goal. A decentralized electronics architecture is used for joint control and sensor data processing. A simulation environment serves as a testbed for the walking control, to minimize the risk of damaging the robot hardware during real world experiments.
AB - Based on the experience gathered from the walking robot Johnnie the new performance enhanced 25-DoF humanoid robot Lola was built. The goal of this project is to realize a fast, human-like walking. This paper presents different aspects of this complex mechatronic system. Besides the overall lightweight construction, custom build multi-sensory joint drives with high torque brush-less motors were crucial for reaching the performance goal. A decentralized electronics architecture is used for joint control and sensor data processing. A simulation environment serves as a testbed for the walking control, to minimize the risk of damaging the robot hardware during real world experiments.
UR - http://www.scopus.com/inward/record.url?scp=84883085613&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-10284-4_34
DO - 10.1007/978-3-642-10284-4_34
M3 - Conference contribution
AN - SCOPUS:84883085613
SN - 9783642102837
T3 - Informatik aktuell
SP - 267
EP - 274
BT - Autonome Mobile Systeme 2009 - 21. Fachgesprach, AMS 2009
PB - Kluwer Academic Publishers
Y2 - 3 December 2009 through 4 December 2009
ER -