System design and control of anthropomorphic walking Robot LOLA

Sebastian Lohmeier; Thomas Buschmann; Heinz Ulbrich

doi:10.1109/TMECH.2009.2032079

System design and control of anthropomorphic walking Robot LOLA

Sebastian Lohmeier, Thomas Buschmann, Heinz Ulbrich

Chair of Applied Mechanics

Technical University of Munich

Research output: Contribution to journal › Article › peer-review

79 Scopus citations

Abstract

This paper presents the 25-DOF full-size humanoid robot LOLA. Our goal is to realize fast and human-like walking. Furthermore, we want to increase the robots autonomous, vision-guided walking capabilities. LOLA is characterized by a redundant kinematic configuration, an extremely lightweight design, joint actuators with brushless motors and an electronics architecture using decentralized joint control. Special emphasis was put on an improved mass distribution to achieve good dynamic performance. Center of mass trajectories are calculated in real-time from footstep locations using a spline collocation method. Reference trajectories are modified by a stabilizing control system based on hybrid force/position control with an inner joint position control loop.

Original language	English
Article number	5282538
Pages (from-to)	658-666
Number of pages	9
Journal	IEEE/ASME Transactions on Mechatronics
Volume	14
Issue number	6
DOIs	https://doi.org/10.1109/TMECH.2009.2032079
State	Published - Dec 2009

Keywords

Anthropomorphic robots
Humanoid robots
Legged locomotion
Robot design
Robot dynamics
Walking control

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10.1109/TMECH.2009.2032079

Cite this

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title = "System design and control of anthropomorphic walking Robot LOLA",

abstract = "This paper presents the 25-DOF full-size humanoid robot LOLA. Our goal is to realize fast and human-like walking. Furthermore, we want to increase the robots autonomous, vision-guided walking capabilities. LOLA is characterized by a redundant kinematic configuration, an extremely lightweight design, joint actuators with brushless motors and an electronics architecture using decentralized joint control. Special emphasis was put on an improved mass distribution to achieve good dynamic performance. Center of mass trajectories are calculated in real-time from footstep locations using a spline collocation method. Reference trajectories are modified by a stabilizing control system based on hybrid force/position control with an inner joint position control loop.",

keywords = "Anthropomorphic robots, Humanoid robots, Legged locomotion, Robot design, Robot dynamics, Walking control",

author = "Sebastian Lohmeier and Thomas Buschmann and Heinz Ulbrich",

note = "Funding Information: Manuscript received February 13, 2009; revised July 1, 2009. First published October 9, 2009; current version published November 11, 2009. Recommended by Guest Editor M. Goldfarb. This work was supported by the Deutsche Forschungsgemeinschaft under Grant UL 105/29.",

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AB - This paper presents the 25-DOF full-size humanoid robot LOLA. Our goal is to realize fast and human-like walking. Furthermore, we want to increase the robots autonomous, vision-guided walking capabilities. LOLA is characterized by a redundant kinematic configuration, an extremely lightweight design, joint actuators with brushless motors and an electronics architecture using decentralized joint control. Special emphasis was put on an improved mass distribution to achieve good dynamic performance. Center of mass trajectories are calculated in real-time from footstep locations using a spline collocation method. Reference trajectories are modified by a stabilizing control system based on hybrid force/position control with an inner joint position control loop.

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KW - Robot dynamics

KW - Walking control

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System design and control of anthropomorphic walking Robot LOLA

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