Leg Design for a Humanoid Walking Robot

Lohmeier, Sebastian; Buschmann, Thomas; Schwienbacher, Markus; Ulbrich, H.; Pfeiffer, Friedrich

doi:10.1109/ichr.2006.321325

Cited by 56 publications

(23 citation statements)

References 10 publications

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“…Both options have already been tested on real platforms (see e.g. [12], for a direct transmission system including balls crews, or [6] for a belt-pulley transmission system). Conventional belt transmission methods need tensors to work properly, which can cause losses of power and make the transmission asymmetric.…”

Section: A Selection Of the Transmission Systemmentioning

confidence: 98%

Mechatronic design and control of a critical biped robot joint

Pabon

Martı́nez

Villagrá

et al. 2009

2009 IEEE International Conference on Mechatronics

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This article presents the mechanical design, hardware architecture and control scheme for critic joints in biped robots. A dynamic simulator was developed in order to quantify torque and currents motor requirements for different gait trajectories. The particular characteristics of biped robots has led to an important design effort in transmission systems, which is deeply discussed before presenting our choice. A specific electronic architecture has been proposed in order to provide the maximum accuracy in trajectory tracking for critic joints. Thus, an absolute encoder located at the output shaft will provide, through the CAN bus, the necessary information to properly correct the joint reference from the global stabilizer. A model-free approach and a Smith predictor on the loop are combined to deal with the transmission uncertainty and the network delays, respectively.

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Section: A Selection Of the Transmission Systemmentioning

confidence: 98%

Mechatronic design and control of a critical biped robot joint

Pabon

Martı́nez

Villagrá

et al. 2009

2009 IEEE International Conference on Mechatronics

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“…The legs have 7 DoFs each, the pelvis has 2 and each arm has 3 DoFs. The head has 3 actuated DoFs: pan, tilt and convergence angle [2] [3]. All actuators have a similar structure with the sizes of gears and motors adapted to the requirements of each link [2].…”

Section: System Overview Of Lolamentioning

confidence: 99%

The sensor-controller network of the humanoid robot LOLA

Favot¹,

Buschmann²,

Schwienbacher³

et al. 2012

2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)

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This paper describes the control, communication and sensor network of the humanoid robot LOLA. A brief description of the complex decentralized electronic architecture will be given. A dedicated circuit board has been developed as decentralized computation device and sensor-controller interface. A detailed description of the hardware and software capabilities of the board is given. The implementation of the real-time communication network based on Sercos-III is described. Finally, a description of the control structure of LOLA is given.

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“…Diese Ungleichheit wird durch Einsatz einer parallelen Antriebsstruktur ausgeglichen, die die mittlere Antriebsleistung deutlich reduziert [13]. Bild 3 verdeutlicht den Aufbau des Sprunggelenksantriebs: Das Sprunggelenk (3) wird durch zwei identische, räumliche Schubkurbelmechanismen (7) mit jeweils einem Fhg.…”

Section: Sprunggelenkunclassified

Entwurf und Regelung des Humanoiden Laufroboters Lola

Buschmann¹,

Lohmeier

Ulbrich

2010

At - Automatisierungstechnik

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Zusammenfassung Der Beitrag beschreibt den mechatronischen Entwurf und die Laufregelung des humanoiden Roboters Lola. Seine charakteristischen Merkmale sind die redundante Kinematik, der extreme Leichtbau, Gelenkantriebe mit bürstenlosen Motoren und eine Elektronik-Architektur mit dezentraler Gelenkregelung. Ein Schwerpunkt im Entwurf war die Optimierung der Massenverteilung zur Verbesserung der Systemdynamik. Die Referenztrajektorien werden in Echtzeit berechnet und durch eine stabilisierende Regelung auf Basis hybrider Kraft-/Positionsregelung modifiziert. Das Regelungssystem ermöglicht sowohl schnelles Gehen als auch die für das autonome Gehen erforderliche Anpassung der Laufrichtung und -geschwindigkeit während des Gehens.

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Leg Design for a Humanoid Walking Robot

Cited by 56 publications

References 10 publications

Mechatronic design and control of a critical biped robot joint

Mechatronic design and control of a critical biped robot joint

The sensor-controller network of the humanoid robot LOLA

Entwurf und Regelung des Humanoiden Laufroboters Lola

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