TY - GEN
T1 - Modular joint design for performance enhanced humanoid robot LOLA
AU - Lohmeier, Sebastian
AU - Buschmann, Thomas
AU - Ulbrich, Heinz
AU - Pfeiffer, Friedrich
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=33845667781&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1641166
DO - 10.1109/ROBOT.2006.1641166
M3 - Conference contribution
AN - SCOPUS:33845667781
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 88
EP - 93
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -