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- Document type:
- Forschungsdaten
- Publication date:
- 13.09.2022
- Responsible:
- Seiwald, Philipp
- Authors:
- Seiwald, Philipp ; Sygulla, Felix
- Author affiliation:
- TUM
- Publisher:
- TUM
- Title:
- Humanoid Robot LOLA - Dynamic Multi-Contact Locomotion
- Identifier:
- doi:10.14459/2021mp1686400
- End date of data production:
- 16.03.2021
- Subject area:
- MAS Maschinenbau
- Other subject areas:
- Robotics
- Resource type:
- Experimente und Beobachtungen / experiments and observations; Simulationen / simulations
- Data type:
- Video-Aufzeichnungen / audiovisual collection
- Description:
- This video shows our humanoid robot LOLA performing various multi-contact maneuvers. The robot is technically blind, not using any camera-based input. For these experiments the navigation module is disabled, thus the foothold positions and hand contact points are manually set according to the current environment setup. However, disturbances (pushing, uneven terrain, rolling board) are not known to the robot and are compensated by our online stabilization methods. Note that ALL algorithms run in real-time and onboard. The robot's joints are position-controlled.
Technical Details: Walking speed: up to 0.5 m/s = 1.8 km/h (depends on maneuver) Runtime of walking pattern generation (once): (30ms for 18.72s of motion in most complex scenario – realtime-factor ~600) Runtime of stabilization and inverse kinematics (cyclic @1kHz): 350us (mean)
This work is supported by the German Research Foundation (DFG, project number 407378162). - Links:
Paper: 10.1109/HUMANOIDS47582.2021.9555790
YouTube: https://youtu.be/gUNZ0AmLiWU- Key words:
- humanoid; robot; Lola; legged; locomotion; planning; control; multi-contact
- Technical remarks:
- View and download (169 MB total, 6 Files)
The data server also offers downloads with FTP
The data server also offers downloads with rsync (password m1686400):
rsync rsync://m1686400@dataserv.ub.tum.de/m1686400/ - Language:
- en
- Rights:
- by, http://creativecommons.org/licenses/by/4.0
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