Modular joint design for performance enhanced humanoid robot LOLA

Sebastian Lohmeier, Thomas Buschmann, Heinz Ulbrich, Friedrich Pfeiffer

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

107 Scopus citations

Abstract

The paper presents the performance enhanced humanoid robot LOLA which is currently being manufactured. The goal of the project is the realization of 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. The fusion of motor, gear and sensors into a highly integrated, mechatronic joint module has several advantages for the whole system, including high power density, good dynamic performance and reliability. Additional degrees of freedom are introduced in elbow, waist and toes. Linear actuators are employed for the knee joints for a better mass distribution in the legs.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages88-93
Number of pages6
DOIs
StatePublished - 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 15 May 200619 May 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Conference

Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/TerritoryUnited States
CityOrlando, FL
Period15/05/0619/05/06

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