Design and Control of the Humanoid Walking Robot Lola

作者：Buschmann Thomas^*; Lohmeier Sebastian; Ulbrich Heinz

来源：Automatisierungstechnik, 2010, 58(11): 613-621.

DOI：10.1524/auto.2010.0878

• Humanoid robots
• walking robots robotics

This paper describes the mechatronic de sign and walking control of the humanoid robot Lola The robot is characterized by a redundant kinematic configuration an extremely lightweight design joint actuators with brushless motors and an electronics architecture using decentralized joint control Special emphasis was put on an Improved mass distribution to achieve good dynamic performance Reference trajectories are generated in real time and modified by a stabilizing control system based on hybrid force/position control with an inner joint position control loop The control system enables fast walking as well as on line modification of walking direction and walking speed required for autonomous locomotion

• 出版日期2010