TY - GEN
T1 - LOLA v1.1 - An Upgrade in Hardware and Software Design for Dynamic Multi-Contact Locomotion
AU - Seiwald, Philipp
AU - Wu, Shun Cheng
AU - Sygulla, Felix
AU - Berninger, Tobias F.C.
AU - Staufenberg, Nora Sophie
AU - Sattler, Moritz F.
AU - Neuburger, Nicolas
AU - Rixen, Daniel
AU - Tombari, Federico
N1 - Publisher Copyright:
©2021 IEEE.
PY - 2021
Y1 - 2021
N2 - This paper presents recent and ongoing hardware and software upgrades to our humanoid robot LOLA. The purpose of these modifications is to achieve dynamic multicontact locomotion, i. e., fast bipedal walking with additional hand-environment support for increased stability and robustness against unforeseen disturbances. The upper body of LOLA has been completely redesigned with an enhanced lightweight torso frame and more robust arms with additional degrees of freedom, which extend the reachable workspace. The mechanical structure of the torso is optimized for stiffness with the help of an experimental modal analysis performed on the real hardware, while the new arm topology is the result of kinematic optimization for typical use-cases in a multi-contact setting. We also propose extensive changes to our software framework, which include a complete redesign of the onboard, real-time perception and navigation module. Although the hardware upgrade is finished and the overall software design is complete, the implementation of various modules is still work in progress.
AB - This paper presents recent and ongoing hardware and software upgrades to our humanoid robot LOLA. The purpose of these modifications is to achieve dynamic multicontact locomotion, i. e., fast bipedal walking with additional hand-environment support for increased stability and robustness against unforeseen disturbances. The upper body of LOLA has been completely redesigned with an enhanced lightweight torso frame and more robust arms with additional degrees of freedom, which extend the reachable workspace. The mechanical structure of the torso is optimized for stiffness with the help of an experimental modal analysis performed on the real hardware, while the new arm topology is the result of kinematic optimization for typical use-cases in a multi-contact setting. We also propose extensive changes to our software framework, which include a complete redesign of the onboard, real-time perception and navigation module. Although the hardware upgrade is finished and the overall software design is complete, the implementation of various modules is still work in progress.
UR - https://www.scopus.com/pages/publications/85119830671
U2 - 10.1109/HUMANOIDS47582.2021.9555790
DO - 10.1109/HUMANOIDS47582.2021.9555790
M3 - Conference contribution
AN - SCOPUS:85119830671
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 9
EP - 16
BT - 2020 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020
A2 - Asfour, Tamim
A2 - Lee, Dongheui
A2 - Katja, Mombaur
A2 - Yamane, Katsu
A2 - Harada, Kensuke
A2 - Righetti, Ludovic
A2 - Tsagarakis, Nikos
A2 - Sugihara, Tomomichi
PB - IEEE Computer Society
T2 - 20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020
Y2 - 19 July 2021 through 21 July 2021
ER -