Leg design for a humanoid walking robot

Sebastian Lohmeier; Thomas Buschmann; Markus Schwienbacher; Heinz Ulbrich; Friedrich Pfeiffer

doi:10.1109/ICHR.2006.321325

Leg design for a humanoid walking robot

Sebastian Lohmeier
, Thomas Buschmann
, Markus Schwienbacher
, Heinz Ulbrich
, Friedrich Pfeiffer

Chair of Applied Mechanics

Technical University of Munich

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

62 Scopus citations

Abstract

The paper presents the leg design of the 22-DoF humanoid walking robot Lola. The goal of the project is to realize a fast, human-like walking motion. The robot is characterized by its lightweight construction, a modular, multi-sensory joint design with brushless motors and an electronics architecture using decentralized joint controllers and sensor data processing. Linear actuators are used for the knee and ankle joints to achieve a better mass distribution in the legs and to improve performance of the stabilizing control. Some critical structural parts have been designed by means of topology optimization in order to balance the demands for high stiffness and strength with low weight.

Original language	English
Title of host publication	Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS
Publisher	IEEE Computer Society
Pages	536-541
Number of pages	6
ISBN (Print)	142440200X, 9781424402007
DOIs	https://doi.org/10.1109/ICHR.2006.321325
State	Published - 2006
Event	6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2006 - Genoa, Italy Duration: 4 Dec 2006 → 6 Dec 2006

Publication series

Name	Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS

Conference

Conference	6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2006
Country/Territory	Italy
City	Genoa
Period	4/12/06 → 6/12/06

Access to Document

10.1109/ICHR.2006.321325

Cite this

Lohmeier, S., Buschmann, T., Schwienbacher, M., Ulbrich, H., & Pfeiffer, F. (2006). Leg design for a humanoid walking robot. In Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS (pp. 536-541). Article 4115655 (Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS). IEEE Computer Society. https://doi.org/10.1109/ICHR.2006.321325

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title = "Leg design for a humanoid walking robot",

abstract = "The paper presents the leg design of the 22-DoF humanoid walking robot Lola. The goal of the project is to realize a fast, human-like walking motion. The robot is characterized by its lightweight construction, a modular, multi-sensory joint design with brushless motors and an electronics architecture using decentralized joint controllers and sensor data processing. Linear actuators are used for the knee and ankle joints to achieve a better mass distribution in the legs and to improve performance of the stabilizing control. Some critical structural parts have been designed by means of topology optimization in order to balance the demands for high stiffness and strength with low weight.",

author = "Sebastian Lohmeier and Thomas Buschmann and Markus Schwienbacher and Heinz Ulbrich and Friedrich Pfeiffer",

year = "2006",

doi = "10.1109/ICHR.2006.321325",

language = "English",

isbn = "142440200X",

series = "Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS",

publisher = "IEEE Computer Society",

pages = "536--541",

booktitle = "Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS",

note = "6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2006 ; Conference date: 04-12-2006 Through 06-12-2006",

}

Lohmeier, S, Buschmann, T, Schwienbacher, M, Ulbrich, H & Pfeiffer, F 2006, Leg design for a humanoid walking robot. in Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS., 4115655, Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS, IEEE Computer Society, pp. 536-541, 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2006, Genoa, Italy, 4/12/06. https://doi.org/10.1109/ICHR.2006.321325

Leg design for a humanoid walking robot. / Lohmeier, Sebastian; Buschmann, Thomas; Schwienbacher, Markus et al.
Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS. IEEE Computer Society, 2006. p. 536-541 4115655 (Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS).

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

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AB - The paper presents the leg design of the 22-DoF humanoid walking robot Lola. The goal of the project is to realize a fast, human-like walking motion. The robot is characterized by its lightweight construction, a modular, multi-sensory joint design with brushless motors and an electronics architecture using decentralized joint controllers and sensor data processing. Linear actuators are used for the knee and ankle joints to achieve a better mass distribution in the legs and to improve performance of the stabilizing control. Some critical structural parts have been designed by means of topology optimization in order to balance the demands for high stiffness and strength with low weight.

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M3 - Conference contribution

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SN - 9781424402007

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Lohmeier S, Buschmann T, Schwienbacher M, Ulbrich H, Pfeiffer F. Leg design for a humanoid walking robot. In Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS. IEEE Computer Society. 2006. p. 536-541. 4115655. (Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS). doi: 10.1109/ICHR.2006.321325

Leg design for a humanoid walking robot

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