TY - GEN
T1 - Humanoid robot LOLA - Research platform for high-speedwalking
AU - Lohmeier, Sebastian
AU - Buschmann, Thomas
AU - Ulbrich, Heinz
AU - Pfeiffer, Friedrich
PY - 2009
Y1 - 2009
N2 - This paper describes the design concept of the performance enhanced humanoid robot LOLA. Our goal is to realize a fast, human-like walking motion. The robot has 22 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 paid 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 on the upper body. The trajectory generation and control system currently being developed aim at faster, more flexible, and more robust walking patterns.
AB - This paper describes the design concept of the performance enhanced humanoid robot LOLA. Our goal is to realize a fast, human-like walking motion. The robot has 22 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 paid 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 on the upper body. The trajectory generation and control system currently being developed aim at faster, more flexible, and more robust walking patterns.
UR - http://www.scopus.com/inward/record.url?scp=84900043153&partnerID=8YFLogxK
U2 - 10.1007/978-1-4020-9438-5_22
DO - 10.1007/978-1-4020-9438-5_22
M3 - Conference contribution
AN - SCOPUS:84900043153
SN - 9781402094378
T3 - Motion and Vibration Control - Selected Papers from MOVIC 2008
SP - 221
EP - 230
BT - Motion and Vibration Control - Selected Papers from MOVIC 2008
PB - Kluwer Academic Publishers
T2 - 9th International Conference on Motion and Vibration Control, MOVIC 2008
Y2 - 15 September 2008 through 18 September 2008
ER -