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Titel:

LOLA v1.1 - An Upgrade in Hardware and Software Design for Dynamic Multi-Contact Locomotion

Dokumenttyp:
Forschungsdaten
Veröffentlichungsdatum:
13.09.2022
Verantwortlich:
Seiwald, Philipp
Autorinnen / Autoren:
Seiwald, Philipp ; Wu, Shun-Cheng ; Sygulla, Felix ; Berninger, Tobias F. C. ; Staufenberg, Nora-Sophie ; Sattler, Moritz F. ; Neuburger, Nicolas ; Rixen, Daniel ; Tombari, Federico
Institutionszugehörigkeit:
TUM
Herausgeber:
TUM
Identifikator:
doi:10.14459/2022mp1686398
Enddatum der Datenerzeugung:
20.07.2021
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 present our recent upgrades to the hard- and software of our humanoid robot LOLA. The changes were made in order to make LOLA capable of dynamic multi-contact locomotion (by which we mean additional hand-support during fast walking). This is meant to increase overall stability and robustness against model inaccuracies and disturbances.
This talk was held as oral presentation at the 2020 IEEE-RAS International Conference on Humanoid Robots (July 19-21 2021). For details, see the related conference paper "LOLA v1.1 - An Upgrade in Hardware and Software Design for Dynamic Multi-Contact Locomotion" by Philipp Seiwald, Shun-Cheng Wu, Felix Sygulla, Tobias Berninger, Nora-Sophie Staufenberg, Moritz Sattler, Nicolas Neuburger, Daniel Rixen and Federico Tombari.
This work is supported by the German Research Foundation (DFG, project number 407378162).
Links:

Paper: 10.1109/HUMANOIDS47582.2021.9555790
YouTube: https://youtu.be/T0CiZQbd9H0

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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