Abstract
Based on the experience gathered from the walking robot Johnnie the new performance enhanced 25-DoF humanoid robot Lola was built. The goal of this project is to realize a fast, human-like walking. This paper presents different aspects of this complex mechatronic system. Besides the overall lightweight construction, custom build multi-sensory joint drives with high torque brush-less motors were crucial for reaching the performance goal. A decentralized electronics architecture is used for joint control and sensor data processing. A simulation environment serves as a testbed for the walking control, to minimize the risk of damaging the robot hardware during real world experiments.
This work is supported by the “Deutsche Forschungsgemeinschaft” (grant UL 105/29).
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Schwienbacher, M., Favot, V., Buschmann, T., Lohmeier, S., Ulbrich, H. (2009). Walking Humanoid Robot Lola. In: Dillmann, R., Beyerer, J., Stiller, C., Zöllner, J.M., Gindele, T. (eds) Autonome Mobile Systeme 2009. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10284-4_34
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DOI: https://doi.org/10.1007/978-3-642-10284-4_34
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