Abstract
With the experience gathered during the development and construnction of the robot JOHNNIE, a new humanoid robot LOLA was built. Goal of this project is to realize a fast, human-like walking. Different aspects of this complex mechatronic system and the first experiments results are presented. The lightweight construction and the custom build multi-sensory joint drives with high torque brushless motors are introduced. The new decentralized electronic control/sensing network is also discuss as well as the simulation environment, the trajectory planning algorithm and the stabilizing walking control. Finally the first experiments result are presented.
| Original language | English |
|---|---|
| Pages (from-to) | 398-401 |
| Number of pages | 4 |
| Journal | AIP Conference Proceedings |
| Volume | 1281 |
| DOIs | |
| State | Published - 2010 |
| Event | International Conference on Numerical Analysis and Applied Mathematics 2010, ICNAAM-2010 - Rhodes, Greece Duration: 19 Sep 2010 → 25 Sep 2010 |
Keywords
- Control
- Humanoid
- Mechatronic
- Robot
- Simulation