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- Document type:
- Forschungsdaten
- Publication date:
- 13.09.2022
- Responsible:
- Seiwald, Philipp
- Authors:
- Seiwald, Philipp
- Author affiliation:
- TUM
- Publisher:
- TUM
- Title:
- Humanoid Robot LOLA - Walking Pattern Generation for Autonomous Multi-Contact Locomotion
- Identifier:
- doi:10.14459/2022mp1686396
- End date of data production:
- 31.01.2022
- 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:
- In this video we explain how LOLA's walking pattern generation (=motion planning) for multi-contact locomotion (=additional hand support) works. Moreover, a series of benchmark simulations is shown. The video is divided into the following sections:
00:00 Motivation
00:36 Overview LOLA
01:16 Phase 1: Environment Model Processing
01:54 Phase 2: Contact Planning
04:02 Phase 3: Motion Generation
06:05 Multi-Contact Configurations
06:46 Scenario: Right Wall
07:08 Scenario: Right Table
07:31 Scenario: Corridor
07:54 Scenario: Obstacles
08:27 Scenario: Ramps
08:53 Scenario: Stairs - Full
09:20 Scenario: Stairs - Partial
09:49 Scenario: Trap
10:28 Scenario: Dynamic Replanning - Abort
10:47 Scenario: Dynamic Replanning - Update
This work is supported by the German Research Foundation (DFG, project number 407378162). - Links:
Paper: 10.1109/HUMANOIDS47582.2021.9555790
YouTube: https://youtu.be/mGlsc_revMc- Key words:
- humanoid; robot; Lola; legged; locomotion; planning; control; multi-contact
- Technical remarks:
- View and download (1,76 GB total, 8 Files)
The data server also offers downloads with FTP
The data server also offers downloads with rsync (password m1686396):
rsync rsync://m1686396@dataserv.ub.tum.de/m1686396/ - Language:
- en
- Rights:
- by, http://creativecommons.org/licenses/by/4.0
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