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Thomas Buschmann, Sebastian Lohmeier, Kolja Kühnlenz, Martin Buss, Heinz Ulbrich, Friedrich Pfeiffer
LOLA – a Performance Enhanced Humanoid Robot
Keywords: humanoid, robotics, mechatronics, control, vision systems
Humanoid robots are perfectly suited for service applications, since their human-like shape allows them to easily access environments designed for humans. This paper presents the performance enhanced humanoid robot LOLA. The goal of the project is to realize fast, human-like and vision-guided walking. LOLA´s hardware is characterized by lightweight construction, modular, multi-sensory joint design with brushless motors and an electronics architecture using decentralized joint controllers. Real-time walking control is realized by a hierarchical trajectory generation and control system. Hardware and control are designed using a comprehensive multibody model of the robot. LOLA is equipped with a novel multi-focal vision system with four cameras and 6 degrees-of-freedom. Multi-focal situation-specific gaze control provides high perception quality, flexible reaction, and accurate localization and navigation in large and weakly structured environments.
it – Information Technology (vormals it+ti), Oldenbourg Wissenschaftsverlag
Print ISSN: 1611-2776
Volume: 49, 04/2007
Pages: 218 - 223