Abstract
Summary: Humanoid robots are perfectly suited for service applications, since their human-like shape allows them to easily access environments designed for humans. This paper presents the performance enhanced humanoid robot LOLA. The goal of the project is to realize fast, human-like and vision-guided walking. LOLA's hardware is characterized by lightweight construction, modular, multi-sensory joint design with brushless motors and an electronics architecture using decentralized joint controllers. Real-time walking control is realized by a hierarchical trajectory generation and control system. Hardware and control are designed using a comprehensive multibody model of the robot. LOLA is equipped with a novel multi-focal vision system with four cameras and 6 degrees-of-freedom. Multifocal situation-specific gaze control provides high perception quality, flexible reaction, and accurate localization and navigation in large and weakly structured environments.
| Translated title of the contribution | LOLA - A performance enhanced humanoid robot |
|---|---|
| Original language | English |
| Pages (from-to) | 218-223 |
| Number of pages | 6 |
| Journal | IT - Information Technology |
| Volume | 49 |
| Issue number | 4 |
| DOIs | |
| State | Published - 1 Jul 2007 |
Keywords
- Control
- Humanoid
- Mechatronics
- Robotics
- Simulation
- Vision systems