Humanoid Robot LOLA — Research Platform for High-SpeedWalking
Humanoid Robot LOLA — Research Platform for High-SpeedWalking
复制标题
人形机器人LOLA——高速行走研究平台
DOI：
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发表时间：
2009
期刊：
影响因子：
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通讯作者：
F. Pfeiffer
中科院分区：
文献类型：
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作者：
S. Lohmeier;Thomas Buschmann;H. Ulbrich;F. Pfeiffer
本文描述了性能增强型人形机器人LOLA的设计理念。我们的目标是实现快速、类似人类的行走动作。该机器人有 22 个自由度，包括带有主动驱动脚趾关节的 7 自由度腿。它的特点是轻质结构、采用无刷电机的模块化、多传感器联合设计以及使用分散式联合控制器的电子架构。特别强调改进腿部装置的质量分布，以实现良好的动态性能。传感器系统包括所有环节的绝对角度传感器、脚部的两个定制力/扭矩传感器以及上半身的高精度惯性传感器。目前正在开发的轨迹生成和控制系统旨在实现更快、更灵活、更稳健的行走模式。
This paper describes the design concept of the performance enhanced humanoid robot LOLA. Our goal is to realize a fast, human-like walking motion. The robot has 22 degrees of freedom, including 7-DoF legs with actively driven toe joints. It is characterized by its lightweight construction, a modular, multi-sensory joint design with brushless motors and an electronics architecture using decentralized joint controllers. Special emphasis was paid on an improved mass distribution of the leg apparatus to achieve good dynamic performance. The sensor system comprises absolute angular sensors in all links, two custom-made force/torque sensors in the feet and a high-precision inertial sensor on the upper body. The trajectory generation and control system currently being developed aim at faster, more flexible, and more robust walking patterns.