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Titel:

Humanoid Robot LOLA v1.1 - Validation of Hardware Upgrade - Initial Tests

Dokumenttyp:
Forschungsdaten
Veröffentlichungsdatum:
13.09.2022
Verantwortlich:
Seiwald, Philipp
Autorinnen / Autoren:
Seiwald, Philipp and Sygulla, Felix
Institutionszugehörigkeit:
TUM
Herausgeber:
TUM
Identifikator:
doi:10.14459/2020mp1686402
Enddatum der Datenerzeugung:
18.12.2020
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 initial tests of our humanoid robot LOLA, which has recently received a major hardware upgrade. In particular the upper body of the robot was redesigned from scratch. The video is meant to demonstrate its basic operation. Note that this is raw footage of initial tests, i.e., WITHOUT fine-tuning of control parameters.
Balancing: The robot is standing in an idle pose and receives external forces. The controller is able to compensate the disturbances without exciting oscillations.
Stamping: The robot is commanded to walk in place, i.e., straight walking with a step length of zero. This kind of motion is typically more difficult for our robot when compared to "normal" walking.
Walking: Basic straight walking of a fixed step sequence.
This work is supported by the German Research Foundation (DFG, project number 407378162).
Links:

Paper: 10.1109/HUMANOIDS47582.2021.9555790
YouTube: https://youtu.be/JCYmq6u0EEc

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