Dynamics and control of the biped robot lola

Thomas Buschmann; Valerio Favot; Markus Schwienbacher; Alexander Ewald; Heinz Ulbrich

doi:10.1007/978-3-7091-1289-2_10

Dynamics and control of the biped robot lola

Thomas Buschmann, Valerio Favot, Markus Schwienbacher, Alexander Ewald, Heinz Ulbrich

Chair of Applied Mechanics

Technical University of Munich

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

9 Scopus citations

Abstract

This paper gives an overview of the dynamics and control of the humanoid walking robot Lola. A brief analysis of the robot’s multibody dynamics motivates our approach to biped walking control. After a brief description of the robot Lola we outline the architecture of its hierarchical walking control system. We also present the real-time planning method for center of gravity trajectories and the model-based hybrid position/force control module that acts as a basis for the stabilizing walking controller.

Original language	English
Title of host publication	Multibody System Dynamics, Robotics and Control
Publisher	Springer-Verlag Vienna
Pages	161-173
Number of pages	13
ISBN (Electronic)	9783709112892
ISBN (Print)	9783709112885
DOIs	https://doi.org/10.1007/978-3-7091-1289-2_10
State	Published - 1 Jan 2013

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AU - Favot, Valerio

AU - Schwienbacher, Markus

AU - Ewald, Alexander

AU - Ulbrich, Heinz

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AB - This paper gives an overview of the dynamics and control of the humanoid walking robot Lola. A brief analysis of the robot’s multibody dynamics motivates our approach to biped walking control. After a brief description of the robot Lola we outline the architecture of its hierarchical walking control system. We also present the real-time planning method for center of gravity trajectories and the model-based hybrid position/force control module that acts as a basis for the stabilizing walking controller.

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ER -

Dynamics and control of the biped robot lola

Abstract

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