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.
CITATION STYLE
Schwienbacher, M., Favot, V., Buschmann, T., Lohmeier, S., & Ulbrich, H. (2009). Walking humanoid robot Lola: An overview of hard- and software. In Informatik aktuell (pp. 267–274). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-642-10284-4_34
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