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Titel:

Humanoid Robot LOLA - Vision Guided Autonomous Multi-Contact Locomotion

Dokumenttyp:
Forschungsdaten
Veröffentlichungsdatum:
13.09.2022
Verantwortlich:
Seiwald, Philipp
Autorinnen / Autoren:
Seiwald, Philipp ; Wu, Shun-Cheng
Institutionszugehörigkeit:
TUM
Herausgeber:
TUM
Identifikator:
doi:10.14459/2022mp1686386
Enddatum der Datenerzeugung:
31.01.2022
Fachgebiet:
MAS Maschinenbau
zusätzliche Fachgebiete:
Robotics
Quellen der Daten:
Experimente und Beobachtungen / experiments and observations; Simulationen / simulations
Datentyp:
Video-Aufzeichnungen / audiovisual collection
Beschreibung:
In this video we demonstrate fully autonomous multi-contact locomotion for our humanoid robot LOLA. In contrast to our previous multi-contact videos where contact points for the feet and hands had to be specified manually by the user, this time all contacts are autonomously planned by the robot itself based on the perceived environment. The only input by the user is the desired final goal position (a horizontal position and rotation around the vertical axis). The robot then automatically computes a feasible contact sequence (if possible) and connects the discrete poses with kinematically and dynamically feasible trajectories while considering multi-contact effects (external forces applied at the hands of the robot).
Through this experiments we demonstrate the coupling of LOLA's new computer vision (Chair for Computer Aided Medical Procedures & Augmented Reality, TUM) and walking pattern generation (Chair of Applied Mechanics, TUM) systems. All algorithms run onboard and in real-time. The scene is not known to the robot (it has to detect it on its own).
This work is supported by the German Research Foundation (DFG, project number 407378162).
Links:

Paper: 10.1109/HUMANOIDS47582.2021.9555790
YouTube: https://youtu.be/ovG2Rz9-1p8

Schlagworte:
humanoid; robot; Lola; legged; locomotion; planning; control; multi-contact
Technische Hinweise:
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Sprache:
en
Rechte:
by, http://creativecommons.org/licenses/by/4.0
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