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- Title:
Smooth Real-Time Walking-Pattern Generation for Humanoid Robot LOLA
- Document type:
- Forschungsdaten
- Publication date:
- 13.09.2022
- Responsible:
- Seiwald, Philipp
- Authors:
- Seiwald, Philipp ; Sygulla, Felix ; Staufenberg, Nora-Sophie ; Rixen, Daniel
- Author affiliation:
- TUM
- Publisher:
- TUM
- Identifier:
- doi:10.14459/2019mp1686406
- End date of data production:
- 03.07.2019
- 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 demonstrates our new approach for planning smooth center-of-mass trajectories for biped walking robots. The method is based on quintic spline interpolation and collocation and generates dynamically and kinematically feasible motions in real-time.
Method/Testscenario: Our humanoid robot Lola steps up and down a platform of 12.5cm height. The planned center-of-mass motion respects the dynamics and kinematic limits of the robot using simplified models. The complete motion lasts more than 17 seconds and is planned in less than 9 milliseconds (CPU only, single-core).
Simulation: Custom multi-body simulation Visualization with Blender (custom interface using Blenders Python API)
Experiments: Planning and control of the robot runs in real-time (onboard). External communication only triggers a signal to start and stop walking. The vision system is not active, thus foothold sequence is predefined.
This work is supported by the German Research Foundation (DFG, project number 407378162). - Links:
Paper: 10.1109/Humanoids43949.2019.9035076
YouTube: https://youtu.be/piQm_oTYXIc- Key words:
- humanoid; robot; Lola; legged; locomotion; planning; control
- Technical remarks:
- View and download (197 MB total, 6 Files)
The data server also offers downloads with FTP
The data server also offers downloads with rsync (password m1686406):
rsync rsync://m1686406@dataserv.ub.tum.de/m1686406/ - Language:
- en
- Rights:
- by, http://creativecommons.org/licenses/by/4.0
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